User:WadeVagle

At these links you can find background on the development of TrotBot's and Strider's linkages.

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  TrotBot Ver 0 Walking Test
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  TrotBot Ver 1 in LEGO
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  Strandbeest, TrotBot, Strider and Klann Linkages
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  One Corner of a 12-Legged TrotBot
• TrotBot, Strandbeest, Klann and Strider Walking at the Avg Speed of their Feet
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  This animation shows how TrotBot's speed varies as the terrain's elevation changes
• 
  One side of a 12-legged TrotBot
• 
  One side of a 12-legged TrotBot

Below are simulations of Strider's linkage, and you can find media of prototype performance here

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  Strider's Paired-Leg, 10-Bar Linkage
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  Linkage Dimensions of Strider Ver 3
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  Strider's Gait can be Smoothed by Adding Toes
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  Strider's Linkage was Optimized to have Consistent Speed on Terrain of Varying Height
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  Strider Linkage Robot Implemented with 12 Legs
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  Strider Linkage Robot Implemented with 8 legs
• 
  One Side of a 12-Legged Strider Linkage Robot
• 
  This animation shows how Strider's speed varies as the terrain's elevation changes