One of the funnest, but most challenging parts of building Aluminalis (our 16-legged walking robot) has been the construction of the two crankshafts. Each side of the robot has a motor that rotates a 10” long, multi-link crankshaft, which drives 4 pairs of legs. The leg pairs need to be kept 90-degrees out of phase from … Continue reading Aluminalis Crankshaft