CAD Model

To construct the final system we originally planned to 3d print much of our frame an use a waterjet cutter to cut our links from a sheet of FR4. A CAD model of the final system is shown below(links and springs omitted for clarity).Image Added

In this system we planned for every leg to have a variable stroke mechanism and to distribute power to each leg with belts from a centrally located motor. We also planned to use a servo hooked up to bevel gears to drive belts on opposite sides of the robot to turn the amplitude control links. However, when it came time to print our parts, we ran into problems. First, the 3D printer we were using did not have enough resolution to print our belt pulleys