Index of /Walkin8r/SVNAttic

      Name                    Last modified      Size  Description
Parent Directory - Building.html 10-Sep-2013 10:27 4.4K Favorites/ 27-Sep-2013 05:28 - Ghassaei.html 10-Sep-2013 10:27 1.0K Jansen.scad 10-Sep-2013 10:12 15K JansenBED.scad 10-Sep-2013 10:06 3.8K JansenDefs.pl 05-Sep-2013 14:48 1.9K JansenDefs.scad 09-Sep-2013 06:23 3.4K JansenFoot.scad 09-Sep-2013 06:23 5.0K JansenLinkagesPrint.png 27-Apr-2013 06:37 39K JansenMain.scad 05-Sep-2013 14:48 3.5K Klann.html 10-Sep-2013 10:27 3.9K Klann.scad 18-May-2013 09:49 7.4K KlannLinkage.png 07-May-2013 05:19 15K Makefile 10-Sep-2013 10:06 5.0K QuelabJansenConfig.ini 09-Sep-2013 06:23 2.8K balanceList.m 15-Aug-2013 07:49 1.2K barRegion1.png 05-Sep-2013 14:48 1.3M basketMount.scad 07-Aug-2013 09:43 2.6K com/ 07-May-2013 05:19 - drawLaserCutParts.pl 04-Sep-2013 07:59 9.5K drawLaserCutParts4.pl 09-Sep-2013 06:23 13K drawLaserCutPartsCra..> 04-Sep-2013 07:59 4.1K driveElectronicsMoun..> 07-Aug-2013 09:43 3.5K grid.scad 02-Jul-2013 11:52 461 laserCutPartsPrimiti..> 09-Sep-2013 06:23 9.9K linkageJig.scad 13-Jun-2013 19:12 3.4K motorMount.scad 27-Aug-2013 19:33 2.1K plotGhassaei.m 15-May-2013 11:16 884 plotGhassaeiOrbit.m 15-May-2013 11:16 1.4K plotJansen.m 27-Apr-2013 06:37 930 plotJansenConfig.m 18-May-2013 16:05 1.1K plotJansenOrbit.m 10-May-2013 13:01 1.1K plotKlann.m 10-May-2013 13:01 920 plotKlannConfigs.m 10-May-2013 13:01 1.0K plotKlannOrbit.m 18-May-2013 09:49 1.3K pulley.scad 27-Aug-2013 19:33 3.3K quelab.ini 05-Sep-2013 14:48 2.9K spacerTest.scad 16-Aug-2013 06:20 1.6K spacers.scad 02-Jul-2013 11:54 518 triVertex.m 27-Apr-2013 06:37 1.0K
Mr. What's Theo Jansen Walking Linkage
$URL: svn+ssh://aaron@birenboim.com/home/users/svn/Jansen/trunk/README.html $
$Id: README.html 227 2013-09-10 17:27:15Z aaron $

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:

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.

Instructions on Building parts and making plots

Other Linkages investigated


Last modified: 130910