I've been thinking about creating an EV3 Strider, but to handle the increased weight and width Strider needs to be improved in a few ways, like by increasing the amount of foot-contact it has with the ground.
One way to increase foot-contact is to add four more legs. To check how this would smooth the gait I simulated one side of a 12-legged Strider, and if you watch the video below you'll see Strider bounce whenever the feet touching the ground switch. This bouncing shouldn't be much of a problem at LEGO scale, but it would be at large scale.
While a scaled-up Strider's linkage could be optimized for a smoother gait, it can also be smoothed by adding feet that are shaped to offset the gait's bumpiness. As an example, in the second half of the video I added small triangular feet to the front legs, which act like heels and toes. These feet reduce the gait's bumpiness by about 1/3rd. However, the toes are more likely to catch on obstacles, which can cause the linkage to lock and gears to grind.
Below is a simulation of Strider's linkage with a longer leg-base, which also bounces a little when the feet touching the ground switch. As you can see, adding toes smooths the gait.
Below is a high-step version of Strider which can also be smoothed by adding toes:
Feet with curved bottoms that are shaped to offset the bumpiness of a particular linkage should be even more effective at smoothing gaits - at least when walking on smooth ground.
UPDATE: I tested a 12-legged EV3 Strider Ver 2 using LEGO but it was too wide and didn't steer that well. It could be made much narrower with 3D printed leg parts, which is probably how a 12-legged Strider should be built. If you decide to give this a go, make sure your leg joints are designed to be sturdier than my LEGO Strider's joints so they can better handle sideways forces during turns.
Welcome to DIYWalkers! My name is Ben Vagle, I'm 18 years old and I've been building mechanical walkers for the past 5 years. I started this blog to share what I've learned, and to collaborate with you. Let's see if we can take walkers to the next level!