Z-Walker mk III

built by A. A. van Zoelen

Click on an image to enlarge it
* * * * *
Target Environment Locomotion Method
Indoors 4 Legs
Sensors / Input Devices Actuators / Output Devices
N/A Servos
Control Method Power Source
Autonomous Battery
CPU Type Operating System
None None
Programming Lanuage Weight
None 142 g (excluding battery)
Time to build Cost to build
Approximately 4 hours About $40
URL for more information
The walker was build with the following in mind: easy to build, reliable, robust, not too expensive, battery operated and using common parts. It will be a basic walker without any sensors or a reverse mechanism. You can add these as you like.

A complete manual is available on the web site.

Functions: The robot was build that is is possible to walk on 4 legs with only two motors and a minimum part count.


Height : 115 mm
Width : 160 mm
Length : 180 mm
Weigth excl. battery : 142 Gram
Frontleg swing angle : 90 Degrees
Rearleg swing angle : 90 Degrees
Speed : 18 sec/metre[ 0.056 m/s ]
Power supply : 3-15 V
Power comsumption : 100 mA

Parts used

1. 2 cheap servo's
2.IC's : 1x 74HC14, 1X 74HC139
3.Capacitors : 4x 0.22uF, 1x 2.2uF
4.Resistors : 3x 1M, 1x 2k7
5.Diodes : 1x 1N4148
6.Other : 2 IC sockets, 2x 5M vario-resistor, LED red, battery holder, power switch

Email: vsim@mail.com

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