Link: http://www.amandaghassaei.com/files/thesis.pdf
Page 6 contains basic overview of leg.
Page 25 contains optimal ratios for linkage lengths.
Legs have been remade to visualize motor movement, using makeshift Cad parts and linkages. Model will have various changes to accomodate proper look and functionality.
This leg linkage was designed by Theo Jansen and is used on his Strandbeests.
ReplyDeleteSearch "Strandbeest", its wicked cool!