Hypothesis: The gait pattern of animals is a passive effect generated by independent leg motion and is just a natural phenomenon.
Technical note:
No attitude control, no gait control.
The body and the four legs move independently.
The legs are driven independently by each motor, and the body moves passively.
- Body
- A contraction/expansion linkage.
- No stopper for the spine.
- No motor, no drive-shaft.
- A leg system, which consists of four components below:
(1) A small Theo Jansen's leg system, that draws a small rounded triangle.
(2) A pantograph, that widens the rounded triangle drawn by the (1).
(3) A suspension mechanism, that suspends the (1).
(4) A low torque high speed motor, that drives the (1).
Note: Legs' motors are programmed to start at Sim.time = 0.26 sec.
)
