Chebyshev Lambda walker

Print this set, mount on a base platform, add batteries, connect with your favourite controller, and go!

This is an implementation of the Chebyshev's Lambda mechanism for converting rotary motion into walking motion, which is very flat compared to others like Klann linkage or Theo Jansen linkage. The walking "point" or locus is located above the mechanism so the foot must be extended down from that point. Rather than making another lambda linkage for the rear support point ("hind legs"), I duplicate the movement with parallelogram linkage so the front and back "legs" are connected together with a "foot".

In this design, two feet are connected together with 180 degree phase shift with a crank. The rotary motion source is the planetary gearbox (https://www.thingiverse.com/thing:2733387). Two sets of this will support a vehicle with differential drive.

I put 2x 18650 lithium batteries (~8 volt) for those poor 3 volt motors, and with 20% duty cycle it already runs on the floor! Al