4-Legged Walker (v4)

And here is one final attempt at a 4-legged walker with independent leg movement. I really liked the movement of my previous linear actuator walker, however it was too slow. Also, since the linear actuators use worm gears, they generate a lot of friction under pressure, and the robot didn't have too much strength. So I tried to build a different kind of leg that only used standard gears, and that had the motors for each leg inside of the leg, rather than in the body of the robot. In this way, I managed to have a very strong robot, that can actually lift its own weight very easily.

Here you can see some pictures of it (the pictures are ugly, so, I'll have to take some new ones :))

The most significant change with respect to the previous versions the previous versions are the legs, which host the motors directly, rather than the motors being in the main body. This reduces the weight that has to be lifted significantly.

Here you can see a close-up of the new legs:

And finally, a video of it walking. I didn't do a very good job controlling it, and also the surface was too slippery. Thus, I want to record a new video whenever I get the chance. But anyway, here it is :)