Strandbeest
A failed (but fun) kinetic experiment.
At iRobot, I began development of a four-legged walking 'strandbeest' using the linkage ratios outlined by Theo Jansen. I used a small gearbox, laser-cut wood, and bolts for pivots. While the linkages did move correctly in unison when powered with the motor, the strandbeest couldn't actually walk because the thin legs would often collapse under its own weight, and the friction-fit gearbox connections often slipped with the required amount of torque. I wish I took more pictures.