Design of Mechanical Walking Robots

In this book, we present the detailed design of mechanical walking robots that are driven by a single motor. These walkers rely on specially designed leg mechanisms coordinated by gear trains in order to walk, rather than multiple computer controlled motors per leg. The result is a simplified walking robot that provides a platform for other mechanical and electronic functions.Two, four and six legged walkers are presented that implement different types of leg mechanisms and power...
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In this book, we present the detailed design of mechanical walking robots that are driven by a single motor. These walkers rely on specially designed leg mechanisms coordinated by gear trains in order to walk, rather than multiple computer controlled motors per leg. The result is a simplified walking robot that provides a platform for other mechanical and electronic functions.Two, four and six legged walkers are presented that implement different types of leg mechanisms and power trains. In each case, we provide drawings for a laser cut wood or acrylic chassis, 3D printed parts and a complete parts list. Several of the designs implement electronic components and software for speed control as well as an additional motor for steering.Our goal is to provide enthusiasts of all backgrounds what they need to build a walking robot at home, to explore new design ideas, and, perhaps, to enjoy the operation of one of these robots as it moves across the ground. The walkers we describe are the result of design studies by teams of undergraduate and graduate students in the Department of Mechanical and Aerospace Engineering at the University of California, Irvine. This book is dedicated to their creativity, commitment, and enthusiasm for the design of mechanical walking robots.