DIY Walkers
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    • TrotBot Builds >
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      • Strider Linkage Plans
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    • Mechanical Spider >
      • Klann Mechanical Spider - Climbing Mod
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      • Klann's Spider, Ver 2
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    • Strandbeest
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    • Linkage Warm Ups >
      • Lever Paradox
      • LEGO Biters
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    • Hiro Labo
    • Whegs (wheel-legs)
  • Customize
    • Strider Linkage Optimizer
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    • 4 Bar Linkage Optimizer
    • 4 Bar Walking Linkage
    • 6 Bar Walking Linkage
  • Linkage Simulation
    • Python Linkage Simulator
    • Scratch Linkage Simulator
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​Klann's Mechanical Spider

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Thank you for your amazing creation, Joe Klann!
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Below simulates our LEGO approximation of Klann's linkage used for Klann Ver 2:



To create a customized Klann linkage for your walker as shown in the video on the right, see the Klann Optimizer page, where you can also find the linkage dimensions from Klann's patent.



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"Clawfoot" Klann includes some modifications that improve climbing performance. 

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Klann's Mechanical Spider with Climbing Mods

Klann Ver 3 with longer legs, which provide more clearance for the EV3 brick or battery box to be mounted underneath the frame.  
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Mindstorms Klann with longer legs
Battery box version with longer legs






Klann's Mechanism with a simple, high-step modification.







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Klann Mechanism with a Simple, High-Step Modification

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RC Klann, Ver 2
Build Instructions



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Mindstorms Klann Ver 2
Build Instructions

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RC Klann, Ver 1
Build Pictures




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To climb steeper grades try separating the front and rear legs' cranks, as Carl B did here:
  • 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