1. Introduction & Inspirations

The 4-Bar Walking Mechanism is inspired by previous walking mechanisms such as Theo Jansen's Strandbeest and other similar mechanisms.

Strandbeest

We wanted to create a similar mechanism using linkages that could walk independently. Most walking mechanisms have high complexity to achieve the walking motion that moves them forwards, which creates opportunities for errors that could prevent the correct movement. Additionally, given the time and manufacturing limitations for this project, complex mechanisms would not be ideal. Therefore, we decided to simplify the walking mechanism by using the simplest set of 4-bar linkages that would produce walking motion.