Why this Walking Machine is Really Weird

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I’ve built quite a few omni-directional robots using various types of omni-directional wheels. Normal omni-wheels are a large wheel with smaller wheels around its circumference, allowing it to be driven in one axis, and slide passively in the other.
Using three omni-wheels allows a vehicle to move in any direction, although I’ve also built machines with one omni wheel.
Most of my omni-wheel vehicles worked ok on flat ground, but they weren’t great at climbing over obstacles. So in this video I’m going to build a omni-directional walking machine which should be better at stepping over things.
CAD and Code: github.com/XRobots/OmniWalker
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XROBOTS
Former toy designer, current RU-vid maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.

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19 июн 2024

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Комментарии : 311

@gavinhicks7621 Год назад

For the life sized one that you can ride try putting the chair on some sort of gyro or suspension because the Omni-directional wheel one looked incredibly bumpy and I’m sure this one will be even more bumpy. Just a thought. Love the builds.

@Thats_Mr_Random_Person_to_you Год назад

Yh one of those 6DOF gyroscope stabailised platform with appropriate emu's then put a set on that, you'll be level no matter what the 'legs' are doing them :)

@talentz49 Год назад

ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-LKJ4Iy-HxvE.html

@madeintexas3d442 Год назад

We need the full size walking robot for sure. I always see these pop up in my feed at 1am right when I'm going to bed but stay up to watch them anyways. James's creations are always sure to be mind-blowing.

@mhenlopotter1612 Год назад

Haha this looks absolutely ridiculous! Can't wait to see a life-sized version 😃

@ericcmcgraw Год назад

Those are not called cams, they are cranks. A cam has a rolling or sliding follower and can be shaped to an arbitrary profile, whereas a crank simply has an eccentric rotary joint. Engines have both a crankshaft and a camshaft, but this type of walker mechanism uses a crankshaft.

@Matty.Hill_87 Год назад

Maybe the automotive terms don't cross over into robotics in the same way, you're spot on though if not

@xaytana Год назад

@@Matty.Hill_87 These terms far predate automotive and robotics. Cams being dated as early as around 600 BC in China, and cranks being dated as early as the Western Han Dynasty 202 BC - 9 AD in China, not to mention these have been fairly prominent throughout both eastern and western history in machinery and automata. They're fairly simple concepts with well known definitions, no matter what field of mechanics you belong to. There is no 'crossing over' to be had; James blatantly used the wrong term, stop trying to find excuses for why the wrong term was used.

@ThatGuy-fi9bm Год назад

@@xaytana you are right, but it’s also ok to be a bit more chill about being right

@AshrZ Год назад

yep! you're correct

@razzledazzlecheeseontoast9808 Год назад

@@ThatGuy-fi9bm WeLl AcTuAlLy

@BuckJolicoeur Год назад

I'm excited to show this to my son and look forward to seeing the full sized "Ride On" iteration.

@derjansan9564 Год назад

"I think this will be super good to make into something absolutely massive that's big enough that I can ride on." DO IT!!!

@Unmannedair Год назад

As I'm sure you already know, the theo jannison strandbeast linkage is already optimized for taking that jerky movement out. If you simply swap the linkage that you have with the strandbeast linkage, I think you'll notice that there's much less jerky movement in the stepping motion. If you look at the path of motion for the tip of each of your legs you'll notice it moves in a strange squashed ellipse. With The strand beast linkage, that ellipse looks more like an airfoil with the flat side facing the ground. This means that it's got smooth translational motion. Nice job though. I really like the concept. I think I want to make one of these and stick a light on it for when I'm working on my car.

@KarmaCadet Год назад

I could just watch this thing walk back and forth for hours... your robot army is coming along nicely!

@davidlong2691 Год назад

Was thinking - if you can optimize the crank and follower path to displace more vertically rather than horizontally, you could increase the RPM the crank turns at to make the steps faster and smaller. This could improve the travel over debris because leg lifting is of critical importance.

@permanentground Год назад

This is super cool, I imagine the full sized version looking like a more colorful version of Darth Sidious' walker-chair from the Star Wars prequels lol

@willsteed439 Год назад

This is awesome. And this should definitely be a full scale project

@Mas3341 Год назад

I love how crazy your omni-wheel designs are getting. I would never have considered a hybrid onmi-walker, and cant wait to see a large scale model! Might need a 3 point harness for the big one, looks like it could be a rough ride

@OnshapeInc Год назад

Great work as always James!

@defaultidiot1684 Год назад

Do I want to watch James astride a giant, mechanical, mutant, rollerblading arachnid? Oh hell yea!

@dontorres8037 Год назад

Every video you make is ALWAYS inspiring me to get back into making things when I'm down. Thank you for being the catalyst I need.

@peter-gn8ey Год назад

are you familiar with Jamie Mantzel? he designed a 6-legged robot that can walk in any direction using just two motors. he spent around 6 years making a giant metal version during which time he managed it to get it made into a toy and sold in stores ("Attacknid"). while he finished the metal version he never got it to the stage he wanted with his limited resources... the dude lives a very unconventional off-grid lifestyle. his goal was always to build one big enough and strong enough he could sit on... he has said it would be cool to see someone like furze make one. anyway, you might find it interesting.

@jbrownson Год назад

I’ve been really enjoying your projects. It’s fun how you take all these fun ideas and mix them up and take them to extremes. Great work

@aengland Год назад

this blew my mind. so excited to see the big version!

@cobaltmn5716 Год назад

that thing is inexplicably sooo weird.whenevber i see its silly walk i cant stop thinking about how weird it is. i think you've built the official mascot of the ministry of silly walks.

@Matty.Hill_87 Год назад

I can't believe how well this works, I can't wait to see a full size version

@Hephera Год назад

id really love to see a rideable version of your snake robot. that seems to me to be your most successful design for climbing over rough terrain and it would be cool to see it going offroad at full scale

@NobleBrutus Год назад

Awesome! To help with traversing obstacles you could always run the passive legs too even though they won't 'push'.

@3DPrinterAcademy Год назад

11:11 "that's why we build small prototypes" I guess "small" is relative 😂 Great build as usual! -Steven

@quigzinator Год назад

i kind of like the idea of a large number of small omni-walkers like these, supporting a person transport. or a really big one with something like wheel chair wheels on each of the legs :O. Cant wait to see the larger version :D

@zivfriedman2312 Год назад

Beautiful as always As for your sponsor, I am a long time user of onshape now, amazing online 3d CAD sowftware, I just LOVE it!

@endodd_7742 Год назад

Interesting video like always! Another interesting approach to omnidirectional walking is with an omnidirectional mechanism (without needing wheels) like the jaimie mantzel mechanism, which is also the one used in the hexbug spider toy.

@Matty.Hill_87 Год назад

That lego model moved so smoothly, that's a really cool idea

@wolf1066 Год назад

Definitely want to see a full-size ride-on version of this. It looks wild!

@wadevagle5914 Год назад

James, thank you for mentioning DIYwalkers - my son Ben and I were excited to see this. PS. I think you chose the best leg design for simplicity and strength, but it's a 4 bar linkage that doesn't step high on the inside of its foot-path. Strider Ver 3 is a different mech that steps higher...but it's more complicated with 10 bars per leg pair. If you don't plan on walking on really rough terrain you may want to stick with this 4-bar linkage rather than the more complicated Strider linkage. Again, thanks so much for the shout-out James! Wade

@AdamJohnWilliams Год назад

YAAASSS amazing!! please make one that can be sat on, there are so many people who would love to further hack on this idea and develop some excellent new accessibility aids - thanks so much for your hard work and your open source ethos James, you rock!

@That_Paperbag Год назад

Thanks for the consistent uploads! I like to watch you after I get home from school

@danieltweit3702 Год назад

you always make the coolest stuff

@ThatGuy-fi9bm Год назад

Excited for the rideable one

@MechVince Год назад

A full size build of this would be incredible! Please, please make it happen!

@DuhRake Год назад

Another cool project!

@FifthConcerto Год назад

I think practical applications to a robot design are great to see. Riding Omni-Walker gets an upvote from me!

@feralmarmot3305 Год назад

And I for one will welcome our robot overlords, with James as their human emissary…

@jeffh4581 Год назад

Crazy, amazing. You’re a mad scientist, my dude. Absolutely for the life sized one!

@daamayzn Год назад

This is really cool James!! You're not that far away from the spider tank in ghost in the shell!!

@FilterYT Год назад

Awesome James!

@DetroitMicroSound Год назад

10:41 Just imagining how hilarious a powerful one would be, on a pile of boards. Boards would be flying everywhere!

@XLessThanZ Год назад

Awesome. I had to watch it in slo-mo to see how the legs work in concert. 👍

@harleydavis245 Год назад

This looks great, I'd love to see a large one with passive or active leg dampeners that help with the bumps.

@coco805 Год назад

Yeah I wanna see one you can ride on! But first you have to make it a lot less janky. Maybe more walker units in each direction, this is basically the trick the strandbeest uses to move more smoothly. Frankly, I'm blown away that this works!! Great work!

@apocriva Год назад

This is remarkable! Such an interesting design. Gotta say though, out of all the things you've made, this is the first that gives me the heebie-jeebies seeing it in motion hahaha

@spacenoodles5570 Год назад

It's so goofy! Is love to see a big version

@markstevensfpv3722 Год назад

Awesome work as always James! I’d rather see the 3 track tank as a ride on though! 😃

@stcattc Год назад

Best channel on yt. Hands down

@SteveRowe Год назад

Congratulations, James. You have created an uncanny-valley dwelling not-quite-spider that is creepier than the real thing.

@zombiedad Год назад

Yes. Rideable version please!

@endab5517 Год назад

Nice work. Would love to hear if you are concerned about what the seated experience would be. Perhaps a mech standup look would be better but are you going to try compensate the rough ride beyond the other lower improvements you mentioned?

@uknathan241 Год назад

Can't wait to see the big version with big grippier wheels, suspension for smoother ride and better terrain handling

@jackmino729 Год назад

Ever considered making a 6 legged walker? Since they are passively stable when both walking and standing programming them should be fairly easy. If you make it in a circular configuration it could fairly reliably move in any direction, but would require a lot powered joints to do so

@mrnlce7939 Год назад

I like your idea of "small" prototype. If it was half the size I would consider it big. You must go through some amount of plastic. What do you do with all the waste and unwanted prints? Do you have any ideas about recycling/reusing unwanted/failed PLA? Would love to hear your ideas on this. Great video. Keep up the good work.

@Delibro Год назад

I think he did a video on that if I remember correctly, just search his channel.

@AlRoderick Год назад

I immediately thought of the elephants that hold up the Discworld. If you up the size you could use more walker units, probably six of them, and it would look like a fanciful carousel. Or I suppose you could arrange the Walker units in parallel like a team of horses and offset the angle of the wheels on the feet 45° like a mecanum wheel.

@killingcarter7752 Год назад

Honestly this is awesome. And while I fully support going full scale with this. I think you should investigate plantigrade walkers before going full scale with this.. the plantigrade walkers provide an extremely smooth ride. Would be awesome for a full scale build. Although it will be very much so more complicated.

@maxdiycnc Год назад

I found a mechanism you would like on a very old Dixon zero turn mower. The engine constantly rotates a sphere and there are bowl shaped driveshafts on either side with break pads lining the concave sides. The drive levers will move these bowl shaped plates up or down to contact the sphere and drive the wheels. I have photos I can share if you are interested

@ThatGuy_33 Год назад

You could try making the passive wheels larger and just moving them higher up on the legs. That should make it a little easier for the wheels to roll over small objects when the robot is oriented in the wrong direction.

@locke_ytb Год назад

The projects are looking good

@TheGraphiteCovenant Год назад

All of this always fascinated me, incredible work. How about using this somehow in VR omnidirectional threadmills?

@TheGraphiteCovenant Год назад

And I mean the omnidirectional technology not this one in particular

@scorpio6587 Год назад

Visually quite interesting locomotion.

@jpsimon206 Год назад

I've written to you in the past about how much I think your skills and inventions could be utilized by disabled people, I'm a wheelchair user myself. I've since learned about the enormous undertaking that it is to get something declared as a medical device. I recently had to get a new wheelchair because there was not a single one on the market capable of climbing my hill. It was months of trial and error, the only things on the market capable were huge devices incapable of being used indoors. I ended up finding the solution to my problem and a great many other people's problems by discovering a Japanese company I'm going to leave nameless because it's not the point. Many companies are doing this. They have a good product for the disabled but they know it will be infringed before they get Ada approval. So they are releasing them as personal electric vehicles and US doctors are able to prescribe these, at the moment it's an enormously valuable loophole. I'm sure you have a great deal on your plate, but perhaps even offering your plans in a scaled up version that could carry a person, I know of many Machinists in the space that could replicate the parts. I assure you that this market is almost strictly inhabited by some of the lowest human beings on the planet. You would be doing a world of good to people in need if you considered doing this. I think there's already a lot of people out there that could make parts and source motors and scale up your designs. The most important things are maneuverability, being under 28 in wide, and particularly some of the rounder designs allow for turning around within the footprint which would be enormously valuable. The best products on the market now essentially utilize tank steering with a pair of powered motors. I can personally attest that a third powered motor would make all the difference in the world. All of these chairs utilize free-wheeling casters or Omni Wheels in front that make it virtually impossible to corner on a slope. Any of your three wheel designs would fix this. I'm happy to put you in contact with more capable people than me. My email address is my name with no hyphen and a period between my first and last name at gmail. I understand if I don't hear from you, but I appreciate your giving it some thought. Be well

@GunGryphon Год назад

Could you have the passive axis moving back and forth to generate steps for clearance with a net zero horizontal movement?

@matthewbadger8685 11 месяцев назад

"Sideways" seems like the forwards and backwards direction as it would be the direction you face when scaling objects and having the most ground clearance during a run. Would probably be worth aligning your seat with this direction if you make a full size version.

@roelskiunplugged1134 Год назад

Looks really cool, but also bumpy. Not sure if it can be made more smooth. Any tweaking needed in dimensions of driving rods? Also looked like clearing wheels to ground was radius of drive axis, and stride was diameter. Maybe try to smooth ride out first before going bigger? Love the project!!!

@KnightsWithoutATable Год назад

Now this might be something worth developing. Unique and can do things that nothing else can.

@itsjjbones Год назад

It would be awesome to see a big version of this but nice having a 3d printed robot video again

@sherlockjones9197 Год назад

cool design, I wonder how it would handle wear and tear like if you were to make a mars rover with this design and all the small wheels got broken would it still be able to move? how does it do in sand or on a hill? and can you have more than 3 units like 4 or 6 to help with hill climbing and if a few sets of legs die?

@oraz. Год назад

It reminds me of the Tachikoma from ghost in the Shell. I think that had wheels on its feet too.

@springer2112 Год назад

Dude! Anything you can ride is worth the build! Peace!✌😎🏴‍☠️

@KrisTheDev Год назад

Would there be a chance to get the stl files rather than only the CAD files as well?

@NeilABliss Год назад

Life size, looks relatively straightforward and wouldn't require a lot of tricky work to get it going.

@TCC180 Год назад

I'm sure the walking mechanism you used was a better option, but ngl I love how strandbeest legs look. woulda been cool to see an omnidirectional one

@OhHeyTrevorFlowers Год назад

That machine is spoopy and I love it.

@zahari_s_stoyanov Год назад

Would be fun to walk around like some sort of an arachnid :D

@DoctorZombo Год назад

It might be interesting to make it automatically calculate slight serpent-like paths even when following a straight trajectory to artificially make all the legs contribute to the movement no matter where you're pointing it

@IronBand4 Год назад

Agree, those are cranks, not cams. But that got me thinking: your device is just a complicated version of your 3-sphere machine but with the legs being analogous to knobs or 3D cams replacing the spheres. It would be a much simpler design with fewer moving parts to go that direction.

@talentguydotcom Год назад

Please prioritize the walking sliding robot for you to ride on. You're an AMAZING ENGINEER!!!

@aL3891_ Год назад

it really does look like its moonwalking :) really cool

@spacemoses0 Год назад

I think a gimbal stabilized seat would be an interesting addition to this project.

@skateerdud Год назад

To improve clearance you can make the rear leg swing back and forth so the legs stay moving and you won't have to twist and turn to go over obstacles

@michaelblackstock6140 Год назад

Hi, can you change your control software to always rotate when moving in a specific direction to avoid foot snags like you mention. Probably already suggested 🙂.

@FrankGraffagnino Год назад

man one thing I would love for you (or someone!) to share are the recipes you use for screws and the size holes you use. For example, if you want to use XYZ wood screw then make this size hole on one side with this amount of bevel/chamfer for the head and on the threaded size, this size hole. I fight with figuring out what hole sizes to use all the time and have to go through many prints before I finally get something that holds but isn't too tight or too loose!

@berry2552 Год назад

You need to work for Boston dynamics!

@huvudpersson7344 Год назад

A very interesting project for sure! Though it seems to me like the omnidirectional functionality is not as useful on walking robots, it might be more worthwile to simply build a spider-like robot which could probably walk in all directions with legs alone.

@dillonmarshall7632 Год назад

You should try to make a rideable version of the snake robot from one of your previous videos!!! With the scaled up version you could put a seat in one of the two middle segments.

@tepafray Год назад

Congrats. You made a table to scare people with arachnophobia

@stevengose8160 Год назад

Are you thinking of trying a bio-mimetic design at any point (even if oversized)? Or will you stay with non-standard motion systems?

@TomChaton Год назад

I definitely think you should create a ride-on dodecapod.

@oljobo Год назад

I would love to see you ride one of these yes 👍😊

@TiagoTiagoT Год назад

Can this design be adjusted so it doesn't wobble so much on each step, or would it need a more complicated linkage like the Strandbeest?

@sirskeptic Год назад

Could you make little feet and put a faux wooden chest over the top? It would be Terry Pratchett's "The Luggage."

@stevecann3394 Год назад

Yes! Ridey on Leggy beast!😃

@pssnyder Год назад

I wonder if you experimented with the geometry of the legs if they could step up higher and clear larger obstacles?

@ChongMcBong Год назад

lots of these holding up a rug with an armchair on it would be an awesome mode of transport :)

@brantwedel Год назад

I wonder if you drive both cams independently on each leg, you can drive them in a way where the undriven legs constantly "step in place" so it'll always step over obstacles.

@willierants5880 Год назад

This one is very surreal. It really looks like some strange alien creature walking about.

@polarvortex6496 Год назад

seems to me like you should rotate the controls so when you go forward it does the sideways movements and vice versa, that way you can go forward and take advantage of the steppy

@oraz. Год назад

A big one would be awesome

@gadlicht4627 Год назад

Grip etc may be different on different legs, or may be cool to add sensor that course correct if it’s turning faster or something in certain direction. Simpliest I can think of is it measures true direction it traveling compared to direction it is traveling and then adjusts accordingly with decay function for correction so it Doesn’t over correct. Another cool idea would be to make legs rotate so there not always in configuration of 120 apart from center spoke. This could lead to better walking in chosen direction and more grip. Simplest I can think of here is back legs move to be 180 apart from front and parallel to each other when just going one direction and move 120 whrn making many turns