Index of /Walkin8r/SVNAttic

      Name                    Last modified      Size  Description
      Parent Directory                             -   
      JansenLinkagesPrint.png 2013-04-27 06:37   39K  
      plotJansen.m            2013-04-27 06:37  930   
      triVertex.m             2013-04-27 06:37  1.0K  
      com/                    2013-05-07 05:19    -   
      KlannLinkage.png        2013-05-07 05:19   15K  
      plotJansenOrbit.m       2013-05-10 13:01  1.1K  
      plotKlann.m             2013-05-10 13:01  920   
      plotKlannConfigs.m      2013-05-10 13:01  1.0K  
      plotGhassaei.m          2013-05-15 11:16  884   
      plotGhassaeiOrbit.m     2013-05-15 11:16  1.4K  
      Klann.scad              2013-05-18 09:49  7.4K  
      plotKlannOrbit.m        2013-05-18 09:49  1.3K  
      plotJansenConfig.m      2013-05-18 16:05  1.1K  
      linkageJig.scad         2013-06-13 19:12  3.4K  
      grid.scad               2013-07-02 11:52  461   
      spacers.scad            2013-07-02 11:54  518   
      basketMount.scad        2013-08-07 09:43  2.6K  
      driveElectronicsMoun..> 2013-08-07 09:43  3.5K  
      balanceList.m           2013-08-15 07:49  1.2K  
      spacerTest.scad         2013-08-16 06:20  1.6K  
      motorMount.scad         2013-08-27 19:33  2.1K  
      pulley.scad             2013-08-27 19:33  3.3K  
      drawLaserCutParts.pl    2013-09-04 07:59  9.5K  
      drawLaserCutPartsCra..> 2013-09-04 07:59  4.1K  
      JansenDefs.pl           2013-09-05 14:48  1.9K  
      JansenMain.scad         2013-09-05 14:48  3.5K  
      barRegion1.png          2013-09-05 14:48  1.3M  
      quelab.ini              2013-09-05 14:48  2.9K  
      JansenDefs.scad         2013-09-09 06:23  3.4K  
      JansenFoot.scad         2013-09-09 06:23  5.0K  
      QuelabJansenConfig.ini  2013-09-09 06:23  2.8K  
      drawLaserCutParts4.pl   2013-09-09 06:23   13K  
      laserCutPartsPrimiti..> 2013-09-09 06:23  9.9K  
      JansenBED.scad          2013-09-10 10:06  3.8K  
      Makefile                2013-09-10 10:06  5.0K  
      Jansen.scad             2013-09-10 10:12   15K  
      Building.html           2013-09-10 10:27  4.4K  
      Ghassaei.html           2013-09-10 10:27  1.0K  
      Klann.html              2013-09-10 10:27  3.9K  
      Favorites/              2013-09-27 05:28    -
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