This amazing build is a work in progress by Wei Hexiang (魏 鹤翔) who is researching the use of walkers for outdoor SLAM, or "Simultaneous Location and Mapping".  His double frame design allows for shorter axles, which can be a big benefit in high torque applications.  ​

TrotBot Instructions

​TrotBot's Linkage Plans are here.

TrotBot's Linkage with its "Heel" Linkage Added

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Simplified instructions for building TrotBot's leg mechanism.  


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Simplified Instructions for Building TrotBot's Leg Mechanism

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​Quadruped TrotBot is our easiest and cheapest version of Trotbot

Quadruped TrotBot

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Hexapod TrotBot (easier, half-cost TrotBot)
Build instructions and part list

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TrotBot, ver 3 (stronger legs, faster speed options, etc)
Build Instructions and part list

TrotBot Ver 3 with Retractable Toes

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TrotBot, ver 1 
Build Instructions


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Catweazel's computer rendered rebrickable instructions and part list for TrotBot ver 1

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EV3 TrotBot, ver 3 with retractable toes and stronger legs
Build Instructions and part list


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Beautifully designed wooden TrotBots by woodworking wizard Seung-hang Lee

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3D Printed TrotBot by Scott Anderson
​Build Plans




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EV3 TrotBot, ver 1 (wider)
​Build Instructions

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Large Scale TrotBot.