Beach beast (like Theo Jansen's Strandbeest)

I'm really impressed by the "Strandbeests" which are living on dutch beaches, so I started to build one. Their "father" is Theo Jansen, please check his home page: www.strandbeest.com.

The biggest challenge was to find the right proportions between the joints and then to combine the legs to a whole robot.

The first movie shows that the beast can turn and restart walking in a synchronic manner.


The second movie shows that the beast can change his way to walk during his promenade.
The beast begins with 0 offset of the motors then it begins to change the walking mode:
1st beep: 90º motor offset
2nd beep: 180º motor offset
3rd beep: 360º motor offset



Following are the programs:

the walking mode

and the turning mode





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Here is the new design of the beast:
and the Jansen mechanism: