Spot Mini-Micro

Single DOF walkers can be a great introduction to some fundamental principles of robotics, like Mechanical/Structural Engineering, Kinematics, Programming, Bio-Mimicry, and Problem Solving! But walkers are often too complicated or require too many parts for many classroom settings. This project's simplicity addresses this, but simple does not mean dysfunctional, and this 4-bar linkage was optimized to walk smoothly either passively (being pushed/pulled) or actively by driving the legs with motors.

Be sure to use frictionless pins for joints designed to move!

Make sure the height of the chariot is equal to the height of the robot's frame or it won't walk well!

Also, if the axle connections to the 1x4 thin cranks tend to fall off, then try doubling the crank's thickness by using two 1x4 thin parts on each side, as was done in the above "chariot" video on the treadmill. NOTE: to ensure the correct spacing of the leg parts this may also benefit from adding another yellow half bushing between the frame and each legs' shoulder joint (AKA the "rocker's" connection to the frame)