DIY Walkers
  • Home
  • Walker ABC's
  • Build Instructions
    • TrotBot Builds >
      • TrotBot Linkage Plans
      • TrotBot's Legs Simplified
      • Quadruped TrotBot
      • Hexapod TrotBot
      • TrotBot
      • TrotBot, Ver 3
      • Mindstorms TrotBot, Ver 3
      • Wooden TrotBots by Automata Korea Design
      • 3D Printed TrotBot by Scott Anderson
      • Mindstorms TrotBot, Ver 2
      • Mindstorms TrotBot
      • Large-Scale TrotBot
    • Strider Builds >
      • Strider Linkage Plans
      • Strider Ver 3's Legs
      • Strider Ver 3's Frame
      • Mindstorms Strider Ver 3 Mod
      • Strider
      • Strider's Legs Simplified (ver 2's)
      • RC Strider
    • Mechanical Spider >
      • Klann Mechanical Spider - Climbing Mod
      • Klann's Spider, EV3 Long Legs
      • Klann High-Step Mod
      • Klann's Spider, Ver 2
      • Mindstorms Klann
      • Klann's Spider, Ver 1
      • Klann's Linkage Plans
    • Strandbeest
    • LEGO Spot Micro
    • Linkage Warm Ups >
      • Lever Paradox
      • LEGO Biters
      • LEGO Punchers (4 bar linkage warm-up)
      • LEGO Hopping Robot
    • Hiro Labo
    • Whegs (wheel-legs)
  • Customize
    • Strider Linkage Optimizer
    • Klann Linkage Optimizer
    • Strandbeest Optimizer for LEGO
    • TrotBot Optimizer
    • 4 Bar Linkage Optimizer
    • 4 Bar Walking Linkage
    • 6 Bar Walking Linkage
  • Linkage Simulation
    • Python Linkage Simulator
    • Scratch Linkage Simulator
  • Blog
​New to linkages?  For some easier builds like Punchers, Jumpers and Biters check out Linkage Warm Ups.

​If you want to create a custom linkage for your walker like this simulation of Strandbeest's linkage optimized for LEGO, see Customize where you can find interactive simulators for Jansen's, Klann's, TrotBot's, and Strider's linkages, along with basic 4-bar and 6-bar walking linkages.
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Strider Ver 3's linkage plans can be found here.

​​TrotBot's linkage plans can be found here.

LEGO Builds


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​​UPDATE:  Here are some simplified instructions for building TrotBot's leg mechanism.  
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Simplified Instructions for Building TrotBot's Leg Mechanism
Spot Micro (motorless, simple)
Quadruped TrotBot (easier build)
Strider Ver 2 (easier build)
Hexapod TrotBot
Strider Ver 3
Klann's mechanical spider
Strandbeest
Trotbot, ver 1
TrotBot, Ver 3 (stronger legs, faster)

​Mindstorms Builds

UPDATE:  for improved functionality for Mindstorms Strider Ver 3, see these instructions for mounting the EV3 brick higher 
Strider Ver 3
EV3 Klann Ver 3 (long legs)
EV3 TrotBot, Ver 3
EV3 Trotbot, Ver 1 (wider)
Strandbeest
EV3 KLANN Ver 2
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Theo Jansen's Strandbeest mechanism optimized for LEGO
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Strider Ver 3
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TrotBot Ver 1
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​Trouble Shooting Tips:  A finished walker's legs should be easy to rotate by hand with the motors disengaged.  If you feel resistance, then look carefully at the legs to see if any are twisted due to leg parts connecting to other parts in the  wrong plane .  Also, make sure that all bushings have been added to the axles so that the legs and cranks don't collide.  Most importantly, be sure to use frictionless pins or axles for joints designed to move.
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LEGO Spot Micro training on his treadmill

UPDATE:
 we've finally dialed in a solution for smoothing the gaits of 8-legged Striders by adding shock-absorbing heels

Check out MoonOnOurNation's (陳亮) 3D-printed mini Strider with onboard video!  You can find detailed building instructions on his Instructables page here: ​https://www.instructables.com/Strider-Camera-Robot/​

Our latest TrotBot build is a LEGO Quadruped TrotBot which is based on Hexapod TrotBot with a frame side and a pair of legs removed, making it our easiest and cheapest version of TrotBot.

​​Check out Grumo's awesome Klann build, featuring retractable spider silk for improved cookie hunting ability! 
  • Home
  • Walker ABC's
  • Build Instructions
    • TrotBot Builds >
      • TrotBot Linkage Plans
      • TrotBot's Legs Simplified
      • Quadruped TrotBot
      • Hexapod TrotBot
      • TrotBot
      • TrotBot, Ver 3
      • Mindstorms TrotBot, Ver 3
      • Wooden TrotBots by Automata Korea Design
      • 3D Printed TrotBot by Scott Anderson
      • Mindstorms TrotBot, Ver 2
      • Mindstorms TrotBot
      • Large-Scale TrotBot
    • Strider Builds >
      • Strider Linkage Plans
      • Strider Ver 3's Legs
      • Strider Ver 3's Frame
      • Mindstorms Strider Ver 3 Mod
      • Strider
      • Strider's Legs Simplified (ver 2's)
      • RC Strider
    • Mechanical Spider >
      • Klann Mechanical Spider - Climbing Mod
      • Klann's Spider, EV3 Long Legs
      • Klann High-Step Mod
      • Klann's Spider, Ver 2
      • Mindstorms Klann
      • Klann's Spider, Ver 1
      • Klann's Linkage Plans
    • Strandbeest
    • LEGO Spot Micro
    • Linkage Warm Ups >
      • Lever Paradox
      • LEGO Biters
      • LEGO Punchers (4 bar linkage warm-up)
      • LEGO Hopping Robot
    • Hiro Labo
    • Whegs (wheel-legs)
  • Customize
    • Strider Linkage Optimizer
    • Klann Linkage Optimizer
    • Strandbeest Optimizer for LEGO
    • TrotBot Optimizer
    • 4 Bar Linkage Optimizer
    • 4 Bar Walking Linkage
    • 6 Bar Walking Linkage
  • Linkage Simulation
    • Python Linkage Simulator
    • Scratch Linkage Simulator
  • Blog