Yet Another Walking Mechanism

This mechanism, based on the Win-Bin Shieh 8 bar linkage, is essentially a Chebyshev Lambda or plantigrade mechanism, inverted then inverted again with a pantograph. The Lambda is already known to have a smooth and flat motion, but located above the linkage. So here the Lambda is rotated upside down, then to invert the motion, a pantograph is used (here 2 pantographs for front and back leg). The pantograph could also produce larger scaled motion but here I used 1:1 scale. The ski which connects the front and back leg provides wide ground contact area.

Video: https://youtu.be/AfgMdyHlt1A

I surely used a lot of screws, all M3 with length 6 mm, 10 mm, and 15 mm. For the long axles I used 3 mm iron wire. There are 2.8mm diameter holes, which need to be tapped for M3 screw, and 3.2mm holes, which might need to be drilled clean.

The servo horn need to be drilled 3 mm diameter at position 1 cm from the center. 2 screws fasten the horn to the crank1 part. The servo mounting holes are