pic: My wheel/leg design

[mechanicalbrain]

Originally Posted by Kevin Sevcik

It "walks" by whipping around that large gear the shaft bracket is attached to. Mind you, it'd walk better if the leg moved in and out as well as around or something similar. Perhaps instead of starting from scratch on both counts, you should find some simple leg joints that work for people and then figure out how to put wheels on them?

Yes thats exactly how it works. As to the retracting part. It would have to involve a mechanical function so i can keep the motors to a minimum. I want it to come around back so it can clear stairs and such objects. Finally, If I added wheels to the end of legs it would need to be some type of pulley system and then again I run into having more then two motors a leg.