Jeremy Cook Is Living His Strandbeest Dream

The first thing Jeremy Cook thought when he saw a video of Theo Jansen’s Strandbeest walking across the beach was how incredible the machine looked. His second thought was that there was no way he’d ever be able to build something like that himself. It’s a feeling that most of us have had at one time or another, especially when starting down a path we’ve never been on before.

But those doubts didn’t keep him from researching how the Strandbeest worked, or stop him from taking the first tentative steps towards building his own version. It certainly didn’t happen overnight. It didn’t happen over a month or even a year, either.

ClearCrawler at the 2019 Hackaday Superconference

For those keeping score, his talk at the 2019 Hackaday Superconference, “Strandbeests: From Impossible Build to Dominating My Garage” is the culmination of over six years of experimentation and iteration.

His first builds could barely move, and when they did, it wasn’t for long. But the latest version, which he demonstrated live in front of a packed audience at the LA College of Music, trotted across the stage with an almost otherworldly smoothness. To say that he’s gotten good at building these machines would be something of an understatement.

Jeremy’s talk is primarily focused on his Strandbeest creations, but it’s also a fascinating look at how a person can gradually move from inspiration to mastery through incremental improvements. He could have stopped after the first, second, or even third failure. But instead he persisted to the point he’s an expert at something he once believed was out of his reach.

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RC Strandbeest Is A Head Above The Rest

Prolific maker [Jeremy Cook] recently put the finishing touches (at least, for now) on his impressive ClearCrawler remote controlled Strandbeest, which includes among other things a surprisingly expressive “head” complete with LED matrix eyes. For anyone in the audience who was only mildly terrified of these multi-legged robotic beasties before, you may want to avert your eyes from the video after the break.

The clever locomotive design of [Theo Jansen] known as Strandbeest is a legged walker. What makes it special is that the legs themselves are not independent, but work together for a gliding action more akin to wheeled bots. [Jeremy’s] work with ClearCrawler has taken this to another level of precision and mechanization.

Before installation of the electronics, the ClearCrawler had to be tethered to a bench power supply, and could only move forward and backward. Once the locomotion was working as expected, [Jeremy] was ready to install some brains into the beast.

The robot is controlled by a dual motor driver and an Arduino Nano socketed in an I/O expansion board. Communication between the Nano onboard the walker and the hand-held remote control is provided by of a pair of nRF24L01 modules. The controller itself is a simple affair, comprised of a joystick shield plugged into an Arduino Uno.

The robot’s head is made up of a chunk of clear polycarbonate tube with a 3D printed internal frame to hold the dual 8×8 LED matrices that serve as its animated eyes. This arrangement is mounted on a servo pan and tilt mount, which is controlled by an analog stick on the controller. While the head doesn’t currently serve any practical function, it does give [Jeremy] a chance to emote a bit with his creation; a popular trick when he shows the ClearCrawler off.

A few years ago we covered this robot’s predecessor, the considerably larger ClearWalker. While that machine was surely a beauty to behold, this smaller and more agile iteration of the concept is quite a bit more practical.

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Paper Strandbeest Is Strong Enough To Walk

Most readers will be familiar with the work of the Dutch artist Theo Jansen, whose Strandbeest wind-powered mechanical walking sculptures prowl the beaches of the Netherlands. The Jansen linkage provides a method of making machines with a curious but efficient walking gait from a rotational input, and has been enthusiastically copied on everything from desktop toys to bicycles.

One might think that a Jansen linkage would be beyond some materials, and you might be surprised to see a paper one. Step forward [Luis Craft] then, with a paper walking Strandbeest. Designed in Blender, cut on a desktop CNC paper cutter, and driven by a pair of small robots linked to an Arduino and controlled by a Bluetooth link, it has four sets of legs and can push around desktop items. We wouldn’t have thought it possible, but there it is.

He claims that it’s an origami Strandbeest, but we’re not so sure. We’re not papercraft experts here at Hackaday, but when we put on our pedantic hat, we insist that origami must be made of folded paper in the Japanese style rather than the cut-and-glue used here. This doesn’t detract from the quality of the work though, as you can see in the video below.

We think this is the first paper Strandbeest we’ve seen, but we’ve brought you countless others over the years. Here’s [Jansen]’s latest, wave-like take on the idea.

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Move Over Strandbeest, Here’s Strider!

Father-and-son team [Wade] and [Ben Vagle] have developed and extensively tested two great walker designs: TrotBot and the brand-new Strider. But that’s not enough: their website details all of their hard-earned practical experience in simulating and building these critters, on scales ranging from LEGO-Technic to garage-filling (YouTube, embedded below). Their Walker ABC’s page alone is full of tremendously deep insight into the problem, and is a must-read.

These mechanisms were designed to be simpler than the Jansen linkage and smoother than the Klann. In particular, when they’re not taking a stroll down a beach, walker feet often need to clear obstacles, and the [Vagles’] designs lift the toes higher than other designs while also keeping the center of gravity moving at a constant rate and not requiring the feet to slip or slam into the ground. They do some clever things like adding toes to the bots to even out their gaits, and even provide a simulator in Python and in Scratch that’ll help you improve your own designs.

If you wanted a robot that simply moved, you’d use wheels. We like walkers because they look amazing. When we wrote [Wade] saying that one of Trotbot’s gaits looked animal-like, he pointed out that TrotBot got its working name from a horse-style gait (YouTube). Compared to TrotBot, the Strider family don’t have as much personality, but they run smoother, faster, and stronger. There’s already a 3D-printing-friendly TrotBot model out there. Who’s going to work something up for Strider?

How much do we love mechanical walkers? Enough to post about bicycles made with Jansen linkages, remote-controlled toy Strandbeests both with weaponry and without, power-drill-powered walking scooters, and of course basically anything that Theo Jansen is up to.

If a trip to [Wade] and [Ben]’s website doesn’t get you working on a walker project, physical or virtual, we don’t know what will.

(And from the editorial department of deconfusion: the image in the banner is TrotBot, but it was just too cool to not use.)

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See This Slick RC Strandbeest Zip Around

Bevel gears used to mount motors vertically.

Theo Jansen’s Strandbeest design is a favorite and for good reason; the gliding gait is mesmerizing and this RC version by [tosjduenfs] is wonderful to behold. Back in 2015 the project first appeared on Thingiverse, and was quietly updated last year with a zip file containing the full assembly details.

All Strandbeest projects — especially steerable ones — are notable because building one is never a matter of simply scaling parts up or down. For one thing, the classic Strandbeest design doesn’t provide any means of steering. Also, while motorizing the system is simple in concept it’s less so in practice; there’s no obvious or convenient spot to actually mount a motor in a Strandbeest. In this project bevel gears are used to mount the motors vertically in a central area, and the left and right sides are driven independently like a tank. A motor driver that accepts RC signals allows the use of an off the shelf RC transmitter and receiver to control the unit. There is a wonderful video of the machine zipping around smoothly, embedded below.

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Watch The ClearWalker Light Up And Dip Its Toes

[Jeremy Cook]’s latest take on the Strandbeest, the ClearWalker, is ready to roll! He’s been at work on this project for a while, and walks us through the electronics and control system as well as final assembly tweaks. The ClearWalker is fully controllable and includes a pan and tilt camera as well as programmable LED segments, and even a tail.

When we last saw [Jeremy] at work on this design, it wasn’t yet functional. He showed us all the important design and assembly details that went into creating a motorized polycarbonate version of [Theo Jansen’s] classic Strandbeest design; there’s far more to the process than simply scaling parts up or down. Happily, [Jeremy] is able to show off the crystal clear beauty in his photo gallery as well as a new video, embedded below.

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Strandbeest Not Fooling Anyone — We See Right Through It

This Strandbeest is ready for the security line at a security-conscious high school. Like see-though backpacks, its clear polycarbonate parts let you see everything that goes into the quirky locomotion mechanism. Despite having multiple legs, if you analyze the movement of a Strandbeest it actually moves like a wheel.

For us, it’s the narrated fabrication video found below that makes this build really interesting. Hackaday alum [Jeremy Cook] has been building different versions of [Theo Jansen’s] Strandbeest for years now. Strandmaus was a small walker controlled by a tiny quadcopter, and MountainBeest was a huge (and heavy) undertaking. Both were made out of wood. This time around [Jeremy] ordered his polycarbonate parts already cut to match his design. But it’s hardly a walk on the beach to make his way to final assembly.

The holes to accept the hardware weren’t quite large enough and he had to ream them out to bring everything together. We enjoyed seeing him build a jig to hold the spacers for reaming. And his tip on using an offset roll pin to secure the drive gear to the motor shaft is something we’ll keep in mind.

In the end, things don’t go well. He had machined out a motor coupling and it ends up being too weak for the torque driving the legs. Having grown up watching [Norm Abram] build furniture (and houses) without a single blown cut or torn-out end grain this is a nice dose of reality. It’s not how perfect you can be with each step, it’s how able you are to foresee problems and correct them when encountered.

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