We have been working on Aluminalis, our mechanical sixteen-legged walking robot. We’ve completed the initial build of the left side, which includes eight of the legs. Aluminalis is made with a complex assembly of custom linkages, segments, and shafts that we have been making in our machine shop. A single motor drives all eight of the legs (on this side) via a crankshaft that drives each pair of legs 90-degree out of phase with the other three pairs. That way, one pair of legs will always be on the ground no matter how fast the robot is moving. In the video below, we are testing the kinetic motion and gait of the left side.