Walkin8r
$URL: svn+ssh://mrwhat@ssh.boim.com/home/mrwhat/svn/Walker/trunk/README.html $
$Id: README.html 427 2014-08-23 20:42:39Z mrwhat $

Mr. What's Theo Jansen Walking Linkage

This folder contains source code for solving the locations of nodes of a Theo Jansen walking linkage, through its cycle, and Octave (MATLAB) code to plot this data. JansenCycle.gif is an animation of these plots.

This drawing will help explain my conventions for naming parts of the linkage:

I have started a trac site for this project. Managing trac at Dreamhost is proving to be a challenge, so it is a little rough right now. I have not figured out a way to allow a generic guest user while having authenticated users who can modify the site. As a temporary solution, I may need to ask you to login as user:anon, with a blank password.

Favorite Jansen Linkage Configurations

After changing optimizer to try to stay from known locked configurations, configuration B was investigated, with this orbit. Although the lock/sticking issues were reduced with respect to configuration A, which was used to build the initial prototype robot, it was still an issue.


The optimizer was changed again to give a weight to how far the CH link comes to the B-axis, and configuration D, with this orbit, was chosen for the next trial.
Configuration A was used to build a demonstration robot. The initial linkage print was motorized, and then used to build a sucessful demonstration remote-control robot.
Configuration D was used to build a laser-cut version of the robot.
Remote control is by Bluetooth from Android.


In February, 2014, I re-wrote the optimizer code to have a little less flexibility. This gave more stable optimization results. It tends to converge to an overoptimized solution, with a very wide stance and small, triangular step paths. However, if I set the steps small, it passes through some nice looking configurations on the way. I am currently revising drawings to cut this latest configuration, Configuration E, on the new Quelab laser cutter.

Instructions on Building parts and making plots

as seen in an Intel promotional video

Other Linkages investigated


Last modified: 140518
      Name                    Last modified      Size  Description
Parent Directory - Attic/ 16-Dec-2013 09:17 - Favorites/ 27-Feb-2014 14:43 - SVNAttic/ 27-Sep-2013 05:30 - WalkerTrunk/ 29-Sep-2015 12:18 - img/ 26-Oct-2016 08:11 - opt14/ 16-Aug-2013 06:07 - Ghassaei.html 22-Oct-2013 13:04 1.1K Building3D.html 07-Nov-2013 15:57 2.9K MainAssembly3D.html 07-Nov-2013 10:22 3.1K PartsPrep3D.html 07-Nov-2013 15:57 3.8K Klann.html 22-Oct-2013 13:04 4.0K BuildingLC.html 23-Aug-2014 13:46 4.6K Building.html 30-Jan-2014 08:03 4.9K GhassaeiLinkage.png 27-Sep-2013 05:10 5.2K LegAssemblyLC.html 30-Jan-2014 07:32 9.9K DriveMountAssemblyLC..> 21-Jan-2014 06:46 10K KlannLinkage.png 27-Sep-2013 05:10 15K BuildingLCX.html 11-Feb-2014 08:30 17K parametric_involute_..> 06-Sep-2013 13:38 18K JansenLinkages.png 09-Sep-2013 17:08 18K BuildingLCQ.html 18-May-2014 08:57 22K JansenLinkagesRender..> 20-Aug-2013 06:26 67K Klann.zip 18-May-2013 09:56 192K BL_4WD.apk 25-Aug-2013 10:09 469K Jansen12Base.zip 16-Dec-2013 08:58 705K Jansen13.zip 23-Aug-2014 13:54 849K KlannOrbit3.gif 18-May-2013 08:22 1.9M klannOpt2.gif 07-May-2013 10:10 2.5M klannOpt2a.gif 07-May-2013 10:10 2.5M klannOpt1.gif 07-May-2013 05:11 2.6M KlannCycle.gif 04-May-2013 09:43 3.1M GhassaeiOrbit.gif 15-May-2013 07:18 3.5M Jansen12.zip 21-Dec-2013 12:29 3.8M JansenCycle.gif 27-Apr-2013 06:38 5.3M