Index of /Walkin8r/WalkerTrunk

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

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

<!--a href="http://www.youtube.com/embed/YeP1YZgmVxg">Initial Walking Chassis Prototype</a-->	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.

Index of /Walkin8r/WalkerTrunk

$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

Favorite Jansen Linkage Configurations

Instructions on Building parts and making plots

Other Linkages investigated

$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 $