Steg - Quadruped

Since this is my first submission on Lets make robots i would like to kindly say hello to all roboteers and hobby makers alike. Ive enjoyed seeing and watching the different creations, its a pleasure! Very nice to find a place were inspiration and creation are very good friends =)

Steg is my first walker bot, its a simple walking in a stright line robot with zero intelligence! its main funtion is to give me hands on experience with the build and learn how walkers walk, it walks be using crank mechanics. I have always had a big interest in walking machines and this is what has prompted me to make one and i hope to make more! :D

Stegs wooden frame built from matchsticks and bolster wood.

I wanted my first walker to be strong and able for indoors and outdoor use, for this its body and legs have been primed and treated for indoor and outdoor walking, this is gonna be the case for future projects as well.

Stegs legs glued and clamped being left to dry over night

Alighning the legs was harder the making the gearbox, i went through 2 leg builds to get the 3rd right. Then it was down too making the feet which for me had to have some kind of rubber grips so that it could walk on more then one type of flooring.

First feet made with washers and elastic bands

The 2nd batch of feet were made by matchsticks and sanded down to a shape that needed to be able to work from the degree of motion the legs were moving at, i then wrapped rubber bands around each side to give double security and make the robots walking gate more stable, worked well.

The biggest problem solver was the wobble made by steg, the gate made steg walk like it was drunk, it moved from side to side in a weird and frantic pattern, to counter this i made a tail to stabilize the gate and counter balance the drunk wobble.This allowed a somewhat smooth walk. I was gonna add a touch senser to the front of steg but left it out due to the speed of 0-60 in ...well...never! 

Well thats that, hope you like Steg =) feedback and comments always welcome! Have a happy build!