YawRated's Lego Technic 8-Leg Klann Linkage Walker

[DLuders]

YawRated/ Guy Walpole posted two YouTube videos of his Lego Technic "8-Leg Klann Linkage Walker" which "uses a Klann linkage for the leg movement, and uses a lego M-motor on each side for skid steering. The legs on each side are out of phase by 180 degrees." On MOCpages, he posted many pictures and a detailed description:

"Kinematically it exmploys a Klann linkage for the legs, with the 4 legs on each being 180 degrees out of phase (if I could be bothered, I'd be interested to see how it works 90 degrees out of phase). The key to getting it to walk smoothly is getting the length and position of each of each of the leg links to have the right propothionality. Apparently its a patented mechanism, but they is plenty of info avaialable if you Google "Klann Linkage".

and

(seen below)

"Compared to other walkers you see made from Lego Technic, I say that mine is very much mechanically over engineered. Its needs to be rigid in order to walk smoothly, although the trade off is its significant weight (I'd guess approx. 1.5kgs) which translates to a very slow walking speed. The fact that it is powered by two m-motors instead of 2 xl-motors is a testament to its balance, rigidity and kinematic smootness. A faster walking speed could be achieved with two xl-motors, but original plan was to use my 2 xl-motors, along with 4 m-motors to build a robotic arm and mount it to the frount of the walker. This would involve a total of 8 power functions motors, the most you can control independantly, more mechanical joints would a mechanical multiplexer."

Klann Research and Development, LLC describes several large-scale Mechanical Spiders, such as "The Walking Beast" shown on this

taken at the 2010 "Burning Man" event in the Black Rock Desert of Nevada, USA: