Strider is an entry-level walker we created when we were trying to discover a linkage mechanism that mimicked the gait of a galloping horse for TrotBot. We explored many options, and one of them led to Strider with a gait similar to a walking elephant. Strider pairs two four bar linkages to increase step-height.
Here is a simulation:
Here is how it walks:
Strider uses only one motor and is relatively easy to build. Plans are available here.
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