Ghassaei linkage walker

This is an implementation of the Amanda Ghassaei linkage. In this design, parallelogram linkages are used to copy the movement to provide support at more points. To make a steerable vehicle, 2 sets is printed and placed side by side (mirroring not necessary), each set driven separately like a tank.

Parts list:
linkages:
barA x2
barB x2
barC x2 (1 mirrored)
barCb x2
barD x2
barDb x2
barE x2
barEb x2
barF x2
barFb x2
foot x2
connector x2
front, back, left, right x1
gear1 x1
gear2 x2
gear3 x1
leftcrank, rightcrank x1

Almost all joints are screw free, only gear axles and top acrylic plate mounting used M3 screws. Because of the tolerance in the design, the feet were not able to lift as high as designed and able to nod up and down, while theoretically the vehicle should run smoothly as if using wheels.

A DVD motor is used for the motion source. I used 2x lithium 18650 batteries, Arduino nano, and infrared remote to control the vehicle.

Video:
https://youtu.be/