Loaded a smooth-walking reference that completes the full cycle. Press play to begin.

PLAY

Start by Making It Walk

VARIABLE GEOMETRY LEG

This Example Is Ready to Walk

Press play, or describe the step, clearance, and speed you want. The controls match the nearest verified gait while keeping the last working reference.

Choose a Gait

SMOOTHSmoothA moderate stride for observing smooth, continuous foot motion.QUICKQuickA faster cadence that remains continuous over the full cycle.HIGH STEPHigh StepMore swing clearance, making the lifting motion easier to see.

Desired StepMatches the nearest verified step length204mm targetDesired ClearanceMatches the nearest verified foot clearance65mm targetDesired SpeedMatches the nearest verified crank speed14rpm target

Verified Reference MatchedLoaded a smooth-walking reference verified over the full cycle.

Once accepted, this gait is ready to use. Generating alternatives and engineering refinement are optional.

Verified ReferencePlay one full cycle, then try the three controls on the leftSmooth

Wheel to zoom

Current operating conditions · CruiseDotted line target/solid line actual

0.0°14 rpm

NOW

Current Gait

Ready for a Full-cycle DemoThese parameters come from a locally pre-verified walking reference, so no engineering warnings need to be resolved first.

Actual Step204mm

Actual Clearance69mm

Motion Continuity100%

Current Speed14rpm

Start by watching it move. Expand closure error, singularity margin, and constraint levels only when needed.

View Engineering Details

Waiting for candidate batch

Create candidates in step 4. Generating and refining will not overwrite the current project; the results will go into a real draft preview first.

Rod inspectionClick on canvas bar

No members selected yet

Click any member in the canvas of a single leg or the entire machine, and the member with the same number will be highlighted simultaneously and the inspection results for the full cycle will be displayed.

single leg mechanismCruise

Cruise Trajectory RMSE22.6mm

maximum error46.4mm

Full-cycle Solution Rate100.0%

Actual step length/swing net lift204 / 69 mm

Support section straightness6.41mm RMS

Minimum geometric angle33.4°

peak full speed254mm/s

peak toe acceleration1861mm/s²

landing vertical speed15mm/s

Comprehensive score of trajectory family93/100

operating conditionsRMSEReachableLanding Speed

Current kinematics exam passed

The current operating conditions are continuous over the full cycle, and no assembly branch jumps or obvious singular positions are found.

“High Speed” and “Obstacle” describe target foot-path conditions only. This version does not calculate mass, ground-contact forces, spring energy, structural stress, or whole-machine stability.