Index of /Walkin8r/WalkerTrunk

      Name                    Last modified      Size  Description
Parent Directory - Building.html 30-Jan-2014 08:03 4.9K Building3D.html 07-Nov-2013 15:57 2.9K Building3Dspc.html 03-Dec-2013 07:49 2.8K BuildingLC.html 23-Aug-2014 13:46 4.6K BuildingLCQ.html 18-May-2014 08:57 22K BuildingLCX.html 11-Feb-2014 08:30 17K DriveMountAssemblyLC..> 21-Jan-2014 06:46 10K Favorites/ 28-Feb-2014 06:54 - Ghassaei.html 22-Oct-2013 13:04 1.1K GhassaeiLinkage.png 27-Sep-2013 05:10 5.2K Jansen.scad 23-Aug-2014 13:46 16K JansenBED.scad 21-Dec-2013 12:31 8.3K JansenDefs.pl 23-Aug-2014 13:46 6.3K JansenDefs.scad 23-Aug-2014 10:37 3.8K JansenFoot.scad 22-Oct-2013 13:03 4.0K JansenLinkagesPrint.png 27-Sep-2013 05:10 39K JansenMain.scad 23-Aug-2014 13:46 3.4K Klann.html 22-Oct-2013 13:04 4.0K Klann.scad 27-Sep-2013 05:10 7.4K KlannLinkage.png 27-Sep-2013 05:10 15K LegAssemblyLC.html 30-Jan-2014 07:32 9.9K MainAssembly3D.html 07-Nov-2013 10:22 3.1K Makefile 23-Aug-2014 13:46 4.9K NOTES3D.html 23-Aug-2014 13:46 967 PartsPrep3D.html 07-Nov-2013 15:57 3.8K PayloadAssemblyLC.html 30-Jan-2014 07:32 3.8K QuelabJansenConfig.ini 23-Aug-2014 13:46 2.8K XD20_22_212x400.pl 01-May-2014 06:16 2.3K XD20_30_230x350.pl 01-May-2014 06:16 2.1K XD20_45_344x384.pl 01-May-2014 06:16 2.9K XE20_45_344x384.pl 01-May-2014 06:16 3.6K balanceList.m 27-Sep-2013 05:10 1.2K barRegion1.png 27-Sep-2013 05:10 1.3M basketMount.scad 27-Sep-2013 05:10 2.6K bin/ 01-May-2014 06:16 - catchBar107x53.pl 01-May-2014 06:16 1.0K catchTab63x61.pl 01-May-2014 06:16 1.2K com/ 01-May-2014 06:16 - driveElectronicsMoun..> 27-Sep-2013 05:10 3.5K e20T45_181x295.pl 01-May-2014 06:16 3.2K e20_22_207x252.pl 01-May-2014 06:16 1.7K e20_30_116x174.pl 01-May-2014 06:16 1.7K e20bhef135x252.pl 01-May-2014 06:16 1.0K e20crankLinks178x109.pl 01-May-2014 06:16 953 e20feet45_180x158.pl 01-May-2014 06:16 2.4K e20hip45_180x132.pl 01-May-2014 06:16 1.5K e20mainBar45_144x191.pl 01-May-2014 06:16 3.0K e20mainGear45_59x59.pl 01-May-2014 06:16 1.3K e20payload30_171x285.pl 01-May-2014 06:16 787 e20payloadSides45_18..> 01-May-2014 06:16 814 gearPlates103x113.pl 01-May-2014 06:16 1.4K grid.scad 27-Sep-2013 05:10 462 hipForks73x97.pl 01-May-2014 06:16 790 img/ 09-Feb-2014 07:41 - involuteGear.pl 07-Nov-2013 10:22 8.2K laserCutPartsGroups.pl 01-May-2014 06:16 14K laserCutPartsPrimiti..> 01-May-2014 06:16 30K lc20_25_P2.pl 07-Feb-2014 07:07 1.7K lc20_30_1x1.pl 07-Nov-2013 10:22 1.6K lc20_30_1x2.pl 07-Nov-2013 10:22 2.6K lc20_30_P2.pl 30-Jan-2014 07:32 2.4K lc20_45_1x1.pl 07-Nov-2013 10:22 1.7K lc20_45_1x2.pl 07-Nov-2013 10:22 3.3K lc20_45_P2.pl 30-Jan-2014 07:32 2.6K lc20crankLinksP1.pl 20-Jan-2014 11:13 2.3K linkageJig.scad 27-Sep-2013 05:10 3.4K motorMount.pl 01-May-2014 06:16 7.2K motorMount.scad 23-Aug-2014 13:46 3.3K payloadBox.pl 01-May-2014 06:16 27K payloadTest.pl 07-Feb-2014 07:07 1.7K plotGhassaei.m 27-Sep-2013 05:10 885 plotGhassaeiOrbit.m 27-Sep-2013 05:10 1.4K plotJansen.m 27-Sep-2013 05:10 930 plotJansenConfig.m 27-Sep-2013 05:10 1.1K plotJansenOrbit.m 27-Sep-2013 05:10 1.1K plotKlann.m 27-Sep-2013 05:10 921 plotKlannConfigs.m 27-Sep-2013 05:10 1.0K plotKlannOrbit.m 27-Sep-2013 05:10 1.3K pulley.scad 21-Dec-2013 12:31 3.7K quelab.ini 27-Sep-2013 05:10 2.9K spacerTest.scad 27-Sep-2013 05:10 1.6K spacers.scad 27-Sep-2013 05:10 519 spacersP1.pl 22-Oct-2013 13:03 1.8K spares30P1.pl 30-Jan-2014 07:32 1.6K spares45P1.pl 30-Jan-2014 07:32 2.1K stackers181x181.pl 01-May-2014 06:16 677 stackers61x61.pl 18-May-2014 08:39 672 svn-commit.tmp 22-Oct-2013 13:02 132 testGearP1.pl 03-Dec-2013 07:49 1.8K testMotorMount.pl 30-Jan-2014 07:32 1.3K toProduction.pl 16-May-2014 10:57 765 triVertex.m 27-Sep-2013 05:10 1.0K
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