Jogger-Dog Leg

I originally designed this leg as a replacement for wheels

The intent was to have a leg that could

be driven by a single motor, and still

have a natural looking step action.

Personally I think it turned out quite well.

If assembled as shown with

the femur restraint attached

to fixed pivot "A", the

resulting movement is similar to a person jogging.

click on thumbnail for larger image

On the other hand, if the leg is assembled

facing the opposite direction with the

fermur restraint attached toFixed Pivot "B" instead, the movement produced

is more like that of the rear leg of a

horse at full gallop, or a running dog.

Hence the title of this description.

Either way the spring on the foot

should be on rear side of the leg.

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The idea I had was to build a two motor roller, such as a BEAMant (unicore) but with legs instead of wheels. The project  evolved into a critter that I am presently calling: Chumly

One  motor & leg assembly is mounted on each

side and a third motor with a tail assemly is mounted on the rear of the bot.  The three work together to lift and move the robot forward. This produces a movement similar to that of a walrus.

Here are a few photos of the tail and one of the actual leg assemblies A close examination of the leg pictures will show some slight changes from the design described above. These  modifications were made to simplify the motor hook up and do not alter the basic character of the design.

click on any of the thumbnail images to see a larger photo

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I will be posting a write up on Chumly once I  have  completed him enough to have something useful to share. In case you don't remember,Chumly was the name of a cartoon character. He was Tennessee tuxido's walrus buddy.