Experimental quadruped robot with 3 jointed legs

This was the first version of a simple quadruped robot with 3 jointed legs. It is around 40cm high. It was designed for Power HD 1501MG Hi Torque Servos (17kg/cm), but note that the torque/weight means it cannot bound or run and they are underpowered for this application.

I think it needs almost double the torque in each joint. To walk, it had to move one leg very slowly forward at a time, while shifting weight (rotating the hips) on the other 3 legs. It sort of stumbled and shuffled then fell over.

The purpose was to experiment with mechanics of 4 legged walking using low price servos before I embark on a project with more expensive ones. It will never be able to carry the weight of a battery.

There is a new version with geared joints here:

http://www.thingiverse.com/thing:652121

It is still experimental but shows more promise.