Leg mechanism Jansens linkage The strandbeest Smooth walking motion

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Leg mechanism | Jansen's linkage | The strandbeest | Smooth walking motion • A leg mechanism (a walking mechanism) is a mechanical system designed to provide a propulsive force by intermittent frictional contact with the ground. This is in contrast with wheels or continuous tracks which are intended to maintain continuous frictional contact with the ground. Mechanical legs are linkages that can have one or more actuators, and can perform simple planar or complex motion. Compared to a wheel, a leg mechanism is potentially better fitted to uneven terrain, as it can step over obstacles.[1] • An early design for a leg mechanism called the Plantigrade Machine by Pafnuty Chebyshev was shown at the Exposition Universelle (1878). The original engravings for this leg mechanism are available.[2] The design of the leg mechanism for the Ohio State Adaptive Suspension Vehicle (ASV) is presented in the 1988 book Machines that Walk.[3] In 1996, W-B. Shieh presented a design methodology for leg mechanisms.[4] • The artwork of Theo Jansen,[5] see Jansen's linkage, has been particularly inspiring for the design of leg mechanisms, as well as the Klann patent, which is the basis for the leg mechanism of the Mondo Spider. • https://en.wikipedia.org/wiki/Leg_mec... • Jansen's linkage is a planar leg mechanism designed by the kinetic sculptor Theo Jansen to generate a smooth walking motion.[1] Jansen has used his mechanism in a variety of kinetic sculptures which are known as Strandbeesten (Dutch for beach beasts ). Jansen's linkage bears artistic as well as mechanical merit for its simulation of organic walking motion using a simple rotary input.[2] These leg mechanisms have applications in mobile robotics and in gait analysis.[3][4] • The central 'crank' link moves in circles as it is actuated by a rotary actuator such as an electric motor. All other links and pin joints are unactuated and move because of the motion imparted by the crank. Their positions and orientations are uniquely defined by specifying the crank angle and hence the mechanism has only one degree of freedom (1-DoF).[5] The kinematics and dynamics of the Jansen mechanism have been exhaustively modeled using the circle intersection method and bond graphs (Newton–Euler mechanics).[6] These models can be used to rate the actuator torque and in design of the hardware and controller for such a system. • https://en.wikipedia.org/wiki/Jansen%... • Theodorus Gerardus Jozef Jansen (Dutch pronunciation: [ˈteːjoː ˈjɑnsə(n)]; born 14 March 1948) is a Dutch artist. In 1990, he began building large mechanisms out of PVC that are able to move on their own and, collectively, are titled Strandbeest. The kinetic sculptures appear to walk.[2] His animated works are intended to be a fusion of art and engineering. He has said that The walls between art and engineering exist only in our minds. He strives to equip his creations with their own artificial intelligence so they may avoid obstacles such as the sea, by changing course when detected. • https://en.wikipedia.org/wiki/Theo_Ja... • Since 1990, Jansen has been creating strandbeesten (Dutch for beach animals , singular strandbeest), which are moving kinetic structures, sometimes wind-propelled, that resemble walking animals, described by Jansen as artificial life. All of his models are based on a system of triangles and connecting links which convert the rotation of an axle into a stepping motion of six or more legs. This allows the strandbeesten to travel over sand much more efficiently than if it were to travel on wheels. What was at first a rudimentary breed has evolved slowly, with the help of evolutionary computation techniques,[6] into a generation of kinetic sculptures that can react to their environment to some degree. According to Jansen, he was inspired by The Blind Watchmaker by Richard Dawkins.[7] Jansen has said I make skeletons that are able to walk on the wind. Over time, these skeletons have become increasingly better at surviving the elements such as storms and water and eventually I want to put these animals out in herds on the beaches, so they will live their own lives. [8] • Constructed from PVC piping, wood, fabric airfoils, and zip ties, Jansen's sculptures are constantly being improved and are designed to function in the sandy beach environment in which Jansen releases them. The sculptures are also able to store air pressure in order to propel themselves in the absence of wind.[9] Jansen's more sophisticated creations are able to detect when they have entered water and are then able to move away from it. One model is capable of anchoring itself to the earth if an approaching storm is sensed. • A 2016 episode of The Simpsons, The Nightmare After Krustmas , featured the strandbeesten and Jansen. He provided the voice for his cartoon character. • https://en.wikipedia.org/wiki/Theo_Ja... • Source credit Wikipedia.

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