RoboDog

I made a robot that walks with Jansen's mechanism and uses ordinary materials. The Jansen's linkage is a leg mechanism designed by the kinetic sculptor Theo Jansen to simulate a smooth walking motion.

• A4 cardboard
• Scissors
• Glue
• Hot glue (optinal)
• Tooth picks
• Drinking straws
• AA battery holder
• AA Batteries
• On/Off switch or 3 position switch with 6 pins
• Wires
• Electrical terminal connectors
• Bicycle spokes (or hard wire)
• metal washers
• 6V gearmotor(about 60rpm)
• Galvanized plate (about 10 x 10 cm)
• MechaRobo assistant (optional)

Cut a rectangular plate about 10 x 5 cm and fix gearmotor with an U shape bridge on it

Solder two bike spoke on base, the distance between spokes must be 8.5 cm. The rotary shaft of gearmotor must be about 8 mm over the base.

• Download pattern
• Print pattern on the cardboard
• Cut A segment, fold and glue as shown

• Cut B segment, fold and glue as shown
• Use three tooth picks for the reinforcement moving part
• Cut F segment, fold and glue. use two metal washers for reinforcement
• Puch F segment and fix to B Segment as shown

• Cut C segment and fold
• Puch and make a hole
• Place and keep a drinking straws in hole and glue as shown

Cut D segment, fold and glue as shown.

• Connect segments A,B,C and D together
• Use two strip to connect segment B to other segments
• Make other three legs

• Cut a rectangular plate about 10 x 2 cm
• Solder three electrical termial connectors on the base

• Use a bike spoke to make crankshaft
• Make crankshaft straight as possible

• Pass crackshaft through the hole of washers as shown on picture

• Use an electrical terminal connector to connect crankshaft to gearmotor
• Connect tail base to bike spokes and Screw it
• Dont screw crackshaft to tail base

• Fix battery holder on tail base with glue
• Wiring battery holder, gearmotor and switch as shown
• If you want bi-directional movement, you can use a 3 position switch with 6 pins instead of on/off switch.

Bi-directional wiring:

• Connect pin 1 to pin 6
• Connect pin 2 to pin 5
• Connect pin 1 to battery (+)
• Connect pin 2 to battery (-)
• Connect pin 3 and 4 to gearmotor

Video Link

If batteries and gearmotor is too heavy, you can use 4 hard wires for auxiliary legs.

These legs are used for better movement and balancing

you can customize your robot as you want.

Video Link

I got my idea from:
https://www.instructables.com/id/Paper-Motorized-Walking-Machine-Sculpture/

other refrence:

https://www.instructables.com/id/Paper-StrandBeest

https://www.instructables.com/id/Paper-Strandbeest-Mk-2/

https://www.instructables.com/id/Develop-your-own-Strandbeest-in-10-steps

https://www.instructables.com/id/Jansen-Mechanism/