LEGO Spot Micro
Awww, isn't he cute? LEGO Spot Micro Ver 1
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The linkage approximated by Spot Micro Ver 2 (see below)
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Spot Micro was developed using our interactive 4-bar walking linkage optimizer, which you can use to modify the linkage here, and below is a video of the simulator in action.
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Spot Micro uses the linkage dimensions shown in the image to the right, scaled so that the crank length (bar b1) equals 3 LEGO holes. Some build pictures are at the bottom of this page. |
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Spot Micro's linkage has a fairly consistent foot-speed, which makes it a good candidate for rotating the crank by driving the legs, as is done in the following treadmill video:
And check out Esaen's Motorized version using Mindstorms 51515!
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Version 2 below is slightly bigger and steps a bit higher: |
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Spot Micro Ver 2 uses the linkage dimensions shown in the image on the right, scaled so that the crank (bar B1) equals 4. It differs from the GIF at the top by shortening the lower leg section (B4) by one LEGO hole so that the front/back feet don't collide when the crank is at 12 o'clock. |
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The following video includes step-by-step instructions for building the smaller version 1:
