How to make a walking, turning mech

UPDATE: Now featuring an attached world save!
A detailed and comprehensive tutorial, illustrating how to build for yourself a quadruped walking, turning mechanical walker. The design of which was devised by myself, was inspired by a similar mech from the "Controller" trailer video from the Scrap Mechanic store page.

1: Before you start...

Update: I have now attached a link for users to download a world save, including my working prototype featured in this guide, and the 3x scale equivalent also featured!
{LINK REMOVED}Get it now, from Mediafire


This guide depicts how to replicate the exact mech shown, but it is worth noting the concept and mechanism can be altered and applied to designs of your own. See this creation as a prototype of sorts, to become acquainted with how it works.

The mech itself is really just a proof of concept, it works but isn't exactly competition for Boston-Dynamics. It will trip, it will fall, it will slide down a hill of a 10 degree incline. But it's great fun nonetheless, and certainly bigger is better in this case. I have tested this same mechanism on 3x the scale of a mech, and it has no trouble traversing bumpy ground and small mounds.

Also note beforehand that this creation overall uses 28 bearings, which may cause potential lag on lower end machines (although my PC managed to run it without any such issues, and this thing is fairly dated now).

The creation below is the end product as such:
















But as suggested, the exact mechanism can be implemented on larger scale builds to produce a different creation, with the exact same movement. Featured below is a mech that is 3x the scale of the original mech:

Size comparison

Asides that, I hope you find the guide helpful and easy to follow, and if you have any issues, questions or comments please leave them in the comments, and I'll answer them the best I can.

Enjoy!

2: Body frame

Start by placing a lift down as this will help a great deal in the intial stage, and place wooden blocks 3x13x1 to form your basic torso. Then, place a bearing on the 6th block in from the left and right sides of the body, both sides.

The ducks show each plane of symmetry to follow. The barrier blocks are only present to help measure the length of the body, only add them if you wish.










That's all there is to the body for now!

3: Leg construction

Now we start on a leg, the front-right leg precisely. Place blocks on the forward-most right bearing as shown below. This part (Part1) of the leg will raise the rest of the leg in order to help provide larger leg lifts, and is 6 blocks long.










The following serious of pictures show the components of the leg that control turning movement, follow the pictures in order:
Your build so far should look identical to the last picture.

Now, we start on the main leg components. Do not differ from any size's given so far as this will almost definitely mess up the mechanism later, so make sure you follow to exact scale.
The first and second parts of the leg are 4 blocks long.



















The third segment, and longest, is 5 blocks long.










The last segment is 3 blocks long. I recommended to replace the last block with a tire, or whatever else you want, so long as it does not exceed 3 blocks in length. A wider foot provides more stability, but add's extra weight to haul along with possible stumbling if it's too large.










You should now have a full leg as shown below. Simply repeat this process 3 more times to give you a full set of stompers.










You can see at this point that the distance between each leg's base is 13x9 blocks, length by width respectively. These dimensions are very important to bear in mind should you want to scale a mech up in size.

Note the duck hood ornament. This not only tells us which side of the mech is the front face, it also adds style.

4: Controller connection

We will need a controller for each individual leg, so go ahead and place 4 controllers like so, or place them where you like so long as you know which controller controls which leg...

I have placed a different block nearby each leg to help identify which corresponding leg I refer to shortly:
Barrier block~ Rear-left leg
Concrete block~ Rear-right leg
Metal Block~ Front-left leg
Brick Block~ Front-right leg



















This next stage is crucial you wire up the bearings correctly, otherwise you will have to configure your bearings differently to mine, increasing your chances of making a mistake and likely rage quitting. Notice that one bearing has been left unassigned, this bearing is infact attached to a driving seat later so be sure you don't mistakingly attach it to a controller.



















Be sure that your bearing rotations are identical to mine too, the foot segment of the leg requires a rotation change:

Left picture = incorrect. Right picture = correct.










The rotations for the front-left and rear-left legs are the same, but are both inverse to the rear and front right legs. Be sure to configure as follows:



















Your mech should now be wired fully as shown below:

5: Controller configuration

This next part is extremely finicky, but is the last fundamental step of the mechanism. You will need to enter each input for the controllers exactly as follows, with each leg's controller having it's own combination of inputs.

The concept behind the movement was extremely tedious to create, attained purely through trial and error, but the general idea is that before a leg can lift forward and land, all 4 legs must be down to achieve the required stability. So, when a leg does begin the lift movement, the 3 other legs during the whole phase will be leaning forwards at the same time, ensuring that the mech leans forward in pace with the moving leg.

If that made no sense, here's a video of an elephant walking to help visualise what I mean (Credit: Jeff Williams, Youtube):

With that out the way, here are your input values for the controllers and their corresponding legs.
Rear-Left





































Front-Left





































Rear-Right





































Front-Right

6: Finishing touches

By now, your mech should look poised and ready to go:



















But there are just a few more steps before you can mount your new mech. First, check all your connections are complete, then add a switch and connect all the controllers to it. Then, build a platform atop the controllers to place a Driver's seat on top, unfortunately we are slightly strapped for space so if you find a better position, go for it.










And on to the final step, we will now connect our steering bearings and the switch to the Drivers seat. You will need to change the rotation of the front two bearings.










Hey presto. You've made a gangly, fumbling crawler to ride across the land!

[Mythic Dragon]

Can It Turn? Tryna Decide To Make It On My Survival World.

[Rufidude]

i want the bigger one is their a download for it?

[pro_100andrew264]

So, did anyone also have a thought to make an AT-AT xD

[PetSackboy]

make a 2 legged walker tutorial

[ocelotbuilder]

hey guys would a bipedal version of this work similar to the quad?

[Xlaits]

If you're making this using his frame, a saddle will fit perfectly on the three wide base.

[rezarg]

It is just falling over?

[Newbetacraft]

yeah is it on the workshop?

[!!Airplane!!]

\/ yes please i hate how people tell you how to build it and then dont put it on the WORKSHOP mate!\/

[L'Homme plus fort qu'un Yaourt !]

Can we donwload it ?