In this Article, we present the detailed design of mechanical walking robots that are driven by a single motor.  These walkers rely on specially designed leg mechanisms coordinated by gear trains in order to walk, rather than multiple computer-controlled motors per leg.  The result is a simplified walking robot that provides a platform for other mechanical and electronic functions.

Two, four, and six-legged walkers have presented that implement different types of leg mechanisms and power trains.  In each case, we provide drawings for a laser-cut wood or acrylic chassis, 3D printed parts, and a complete parts list.  Several of the designs implement an additional motor for steering as well as electronic components and software for speed control.

Our goal is to provide enthusiasts of all backgrounds with what they need to build a walking robot at home, to explore new design ideas, and, perhaps, to enjoy the operation of one of these robots as it moves across the ground.