PLANTIGRADE MACHINE: I've Been Building Walkers WRONG This Entire Time...

Welcome to another episode of Scrap Mechanic! Today I am replicating the Plantigrade Machine. It is a walking machine that utilizes 4 Lambda Mechanisms in order to obtain a smooth and straight walking cycle, unlike the bumpy circular walking cycle I typically use.
Videos Referenced
• Video
• Chebyshev's plantigrad...
More Recreating Real Machines: • I Evolved This FAILED ...
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What is Scrap Mechanic?
Scrap Mechanic is a multiplayer sandbox game with imagination and ingenuity at its core. Create fantastic machines, transforming vehicles or sneaky traps. The possibilities are endless with Scrap Mechanics powerful tools.
Find the game here: store.steampowe... #scrapman #scrapmechanic

[@verrueckteriwan]

Scrapman, for future projects when you despair on a project while trying to build an angled / diagonally bar, you dont need to, you can just build an L piece instead, because scrap mechanic dosnt have any flex on parts (only the distance between the bearings is important, not how they are connected). This might help you when you build more complicated stuff on a 90° grid like in scrap mechanic

[@vibaj16]

the diagonal looks better tho. Also, couldn't you use wedges to get a straight line, instead of the squiggly pipe thing?

[@notstazzmann9429]

@@vibaj16 yes, but since wedges technically have the same dimensions as a 1x1x1 block, they would rub against the wood next to them and get stuck. That’s why he used the pipes, since they are less than a block wide so the won’t collide with things right next to them.

[@vibaj16]

@@notstazzmann9429 1, there isn't much friction betweeen those in SM, and no, wedges do not have the same dimensions as a 1x1x1 block

[@OldRealNV2K]

@@vibaj16 the hitbox of the wedge has a dimension of 1x1x1, not the actual shape of the wedge

[@FreddieStarWars]

​@@OldRealNV2K The hitbox of a wedge is the same as it's shape. Not to be rude but if you'd played scrap mechanic you'd know that.\

[@captainstroon1555]

On the topic of fancy walking machines, trying to rebuild the Playa Crawler could be a fun video. Or some of Theo Jansen's Strandbeest contraptions which work similarly.

[@blazingblast]

As a dutch person I find that last name very entertaining

[@Mallory-]

as another dutch person that name is dutch becouse the artist Theo Jansens is dutch and most of the pictures of it have been made on the beaches of eindhoven.

[@lucasjackson9577]

So does the klann linkage

[@suicidalbanananana]

If ScrapMan is going to recreate a strandbeest he should really try that in Trailmakers instead, that way he can try include the wind powered aspect that is missing from 95% of recreations

[@captainstroon1555]

@@xivstellar Must have been me then. I use the same pfp pretty much everywhere. And as it's the main character of my upcoming webcomic, I highly doubt someone else uses the same.

[@Necromorph790]

Im so glad to see you evolving your knowledge of walkers! Its so much more realistic to an actual moving leg

[@saipranavpalla1467]

He has to make a series where he constantly upgrades all his weapons and creations

[@daneliakok4454]

I love your videos

[@Pricklyscug]

@@saipranavpalla1467 True

[@marcus757fugaming7]

Like a dog

[@CatNolara]

One problem you will always face with quadruped walkers: they will tend to tip to one side on each step (at least when lifting two legs at a time). You can make it work with big flat feet, but it will still be a bit wobbly. Smooth walking like in animals or DARPA robots only works with closed-loop systems with lots of sensors and control algorithms.

[@EDreyer]

Makes you appreciate our biological systems more.

[@megamike70]

also, simple solution to that issue, give it another pair of legs. that usually resolves the diagonal tilt issue, because that way there is no point where the walker isn't resting on 3+ legs

[@richardbloemenkamp8532]

I did some efforts in PyBullet a few years ago: kzbin.info/www/bejne/fF6zm2x3i5uqnNE

[@jordananderson2728]

@@megamike70 That's exactly why insects have 3 pair of legs.

[@jackalism]

If you mechanically de-couple the front and back leg pairs, you could split the body in half and use a central steering bearing (or piston steering) to handle turning.

[@skmgeek]

I like your funny words, magic man

[@max________2190]

I like your funny words,magic man

[@RealPanzer999]

or just put the 4 whole leg mechanisms on bearings to make the front & back legs angle like four wheel steering.

[@guymanhumanperson]

@@RealPanzer999 yes

[@Whats-Kraken]

or you could add a third pair of legs not connected to the purple bar and have it connected to the main body by a bearing, like the old walker

[@pjamestx]

Man you're just KILLING it with these complex builds lately, love it! Keep up the great work!!!

[@Thecinnamonburnerz]

Same

[@Thecinnamonburnerz]

Keep it up

[@AshleyWinters79]

The motion of this looks so much like an ATAT walker, gonna have to have a play. thank you for the (data) resources

[@Gmer-ez9wx]

add another bearings in the middle of the lag and it's similar to an AT AT

[@frayziedaisy]

AT-AT‘s are even more stable because they have 3 legs on the ground all the time just one leg moves at a time it makes it slower but also way more stable

[@SuperDantedmc]

Scrapman you keep saying you aren't an engineer, but all you need to be one is the ability to break down complex problems into easier ones to find solutions. You perfectly demonstrate that here!

[@Lee-One]

I like how you actually made a engineering engine and made it walk and that you showed it in the top right so we could compare in real time very cool and learning full.

[@thefool4492]

Scrapman: "This is great, they give me all the measurements so it will be easy." Also Scrapman: doesn't use the measurements and then wonders why it's not working right

[@johnderat2652]

Oh man I love this. For some reason it makes me so giddy watching all these unusual real life mechanisms being rebuilt in a video game. It's fascinating and entertaining at the same time. It's also slightly educational as well.

[@2001herne]

Just a thought: For turning, you might want to not link the front and back legs - this should let you break the creation into two sections, front and back. These sections can be connected by a center hinge/pin, creating steering from the center.

[@Charles-7]

yeah like how you did in your other walker there scrapman.

[@achtsekundenfurz7876]

Another idea: the wider the walker is, the more torque around the vertical axis is _created_ by tank-style turning. And the longer it is, the more torque is _needed_ - so the answer would be to build as wide and short as possible without compromising stability. Clearly, centipede-like machines would be extremely inefficient at turning and need articulating joints between sections badly.

[@2001herne]

@@achtsekundenfurz7876 Thats actually incredibly insightful - the tank steering only applies force in one direction, and on long creations the moment arm of the turning force is fairly short. On the other hand, the moment arm of the frictional force at the very front and rear of the creation is comparatively large. Thanks for the food for thought.

[@jlsherriff]

Blah blah blah 🙄 just use suspension glitch steering 😂😁(unless it doesn't work on walkers in witch case I look stupid right now😂)(sorry for the bad English😂😅)

[@frogsecretaryofswamp452]

I think you can use this in survival since it could make a walking base that doesnt slide that much when you leave it alone, and you could build it to have like 8 or 12 legs so it could support more weight on the vehicle

[@frogsecretaryofswamp452]

You could even make a deployable car incase you want to explore, this is a good strat for nomad survival

[@wayasho5284]

Awesome! I love seeing all these new videos with the history, physics and crazy contraptions! Keep it up scrapman!

[@davidlewis2171]

I don't really have any suggestions for any design you could try to build, but I'm loving these videos where you're making these old unconventional vehicles and mechanisms! I'd love to keep seeing more of them!

[@ZorlackE621]

It's called a plantigrade walker because of the "foot and heel" of the walker is placed flat on the ground like a human or bear foot. While a digitigrade walker has the heel higher up making it look like a backwards knee. Edit: It might be possible to make a digitigrade walker in scrap mechanic using pistons but it will be much harder.

[@unholyhardy4359]

But also much cooler and faster hypothetically

[@deception1744]

wait..... scrapman is secretly just making educational videos now

[@Autoskip]

Sooo... You had a good distance between bearings the first time - you want to measure between centres, not the length of the entire strut, which gives you an extra half a block hanging out each end. With the version you ended up with, A was 3 units, your "2.5A" leg pieces were 9 units, and the diagonal was about 9.22 units (and hinging 7 units away from the base bearing) If you'd stuck with the 5-long struts you started with, that would have been 4 units between centres (A), then you'd need 10 units between centres for the 2.5A lengths (or 11 units if you count both the pipes that have bearings), and thanks to Pythagoras, placing the diagonal arm's base bearing 8 units away (between centres - 9 counting both bearing blocks) would have the diagonal exactly 10 units between centres! I rebuilt it to your dimensions, and mine, to compare them, and yours still gets impressively close, but it appears to be slightly higher at one end of the step than the other, where as building it by between centres measurements has no discernible height difference along the entire length of the step.

[@MascottDeepfriar]

i'm not sure if its just me but in the video he seemed to forget the .5 part of the 2.5 and was aiming for 2x the length.

[@TheForevener]

I always liked Scrapman's videos, but this series is just amazing - a proper edutainment, which fits the channel very well.

[@jocosesonata]

Okay, you got to have this in Multiplayer Monday somehow. Maybe build a gigantic version, that's more tanky, and have tiny planes try and hit its weak-spots; all the while, one (or two, depending on the amount of players) defend the walker, with either turrets, or just them running around on its battlements. Definitely try making it look like a walking castle.

[@melody3741]

There's only one instance in which an engineer doesn't just do what you did and figure it out as they go and that instance is if they have done it before. You're honestly a really great engineer.

[@bloodgain]

"If you ever needed any more evidence that I'm not an engineer, I'm just figuring things out as I go..." Welcome to engineering. It's just that with a background in advanced mathematics.

[@Jakubboss99]

This is much smoother than an exact replica in trailmakers...

[@Jakubboss99]

- at higher speeds...

[@notonlyhuman6073]

I'm an engineering student, and I love this series!! Keep it up!!

[@redfoxgamer4040]

I got two prototype/failed ideas for you (both would be better in trailmakers besides the carriers probably because build space is limited). The anitnov A-10 soviet glider tank, it would be cool to see this gilded and drive around. And the flying aircraft carriers USS Macon or Akron would love to see controls for the blimp and planes along with the very difficult to pull off landing the aircraft on it system (there are some tragic stories with both of them but interesting machines still)

[@BENBOI_1]

On the topic of walkers there’s a cool one called a wind walker Love your videos!

[@B_Poort]

I really like these types of videos where you recreate real mechanisms and machines. I really like them!!

[@snipersnipes4475]

Leonardo da Vinci’s fighting vehicle, please? It’s a pretty cool concept

[@Mydumbselfsays]

For some reason, once I read the wiki page, did a bit more research, and had a proper understanding of how the walking mechanism works, watching the walker work was 100 times more satisfying

[@InfectedSean]

The plantigrade machine seems to have a more natural way of walking compared to the other walker. A way to do a better form of turning could be to take inspiration from nature aswell. Instead of linking the legs on each side, keep them split, and then split the body of the walker in 2, so the front can turn/bend left or right, like a cat or any 4 legged animal would.

[@gxyzcarroll4457]

Love raising series, keep it up! Your my favorite youtuber!

[@nikoalanko8343]

Seems like the legs are able to move on a pivot on top of the mechanism when the lambda reaches turning point. You could extend the wishbone bit a tad and weld the leg straight with diagonal blocks.

[@matthewgardner45]

Try making it 6 legged and use a split in the platform to rotate left and right on front two to see what happens

[@looksgoodonpaper]

Genius! This really is so impressive and great content. Love this series. I’ve been holding out on you but the tank made me subscribe! Thanks ScrapMan!

[@Zacian2.0]

OOOOHHHH! A three min old Scrapman video. NOICE! Love it! Thanks Scrapman!

[@endodd_7742]

Nice and clean implementation! I built a plantigrade machine without the wishbone by connecting the diagonally opposing legs with each other. It looks a bit more ugly, but is smooth enough to power it by hitting a central gear with a hammer which is quite funny.

[@zodiakgames]

That sounds amazing

[@EpsilonRosePersonal]

I love multiped walkers -a childhood filled with Ghose in the Shell, Armored Core, and Chrome Hounds made it all but inevitable- so this was really cool to see. I had two ideas for turning. First, rather than changing the cycles, could you add pistons to the legs and slightly lengthen the ones on the outside of the turn (slightly angling the legs and feet on one side might also work)? It would only let you turn while moving, and the radius might not be the best, but I feel like it would also give you a more natural motion. Alternatively, since you've already built up the foot mechanism, could you replace most of the blocks with lower friction blocks, but have a few high friction blocks on pistons that can retract when that foot needs to pivot? On a different tangent, could you make this a 6-leg walker, with 3 feet on either side. -Don't judge me! I know it had a different mechanism, but I want my Spirit of Motherwill!- If you can't, I wonder how that would change the turning. Either way, I hope you do more with walkers and this style of more complex walker, in particular. I think a multi-player challenge involving walkers could be interesting, but failing that even building out a more robust and fancy version of this one would be cool to see. Edit: If you're interested in doing more walkers, there's an entire website dedicated to building them, with a bunch of relatively simple designs you can use. www.diywalkers.com

[@seamusrichardson5601]

I think the jerkiness on the plantigrade is from when the legs reach the end of their travel in a direction, and the stopping force has to be put somewhere. Perhaps putting the actual seat or main body on some sort of suspension to isolate leg movement from body movement could provide a more stable ride, not to mention replacing the feet with wheels with no bearings for extra grip and suspension on the legs.

[@RockyBergen]

Such a great series! Love the history lesson and the overlay graphics are super pro!

[@Clr-Clr]

Man, you are such a good builder lol can't believe how smooth that walker is

[@aericconline]

Plantigrade probably refers to the machine using its entire "foot" when walking. There are different grades based on what part of the foot a creature walks on: Plantigrade (uses entire foot i.e. human), Digitigrade (uses only toes without the heel touching i.e. cats) and Unguligrade (generally things with hooves i.e. cows or things without digits [toes]). Found this in research I was doing when trying to understand stilts and their relation to power armor for sci-fi armor creation.

[@BalroomBlitz715]

I saw Lambda struts in another video and was wondering about their possible applications. Nice, I like it!

[@Dimondminer11]

Thats like wow. Impressive looking and impressive performance from this walker.

[@Banzai_AWOS]

the characters movement on the not-a-lambda machine reminds me of how it feels to be riding a horse

[@globinboopin4226]

You should do a walker only scrap mechanic survival playthrough.

[@Der_Yoloist]

I have an Idea for turning. Cut the thing in half so you have the front legs and rear legs on independent plattforms. Then you can connect the 2 platforms via a bearing. Another Idea is to exchange the "wobbly" bar with pistons so the radius on one side gets smaller. That should result in higher frequent cycles on one side and force a turning (with enough friction)

[@ADonutMan]

This will be PERFECT for battery quest for chapter 2! (from devblog 22) As far as I got it the whole point of this quest is to brinh fragile battery to a recharge station and to the mechanism we'll need to power, while defending against the bots, battery prob can't be picked up by a lift or welded, so this walker would be perfect for smooth transportation

[@comanderjuul]

If you separate the front legs from the rear legs, you can probably put articulated steering in between and it would work quite well. Or heck, just put 2 of these creations together with an articulated steering joint between them! I'd love to see it then! Plus, at 200% max speed :)

[@JamesTDG]

7:30 congrats, you have figured out the entire field of engineering

[@Ceres_5]

You could try to make the Panjandrum, an invention made in WWII; a wheel powered by rockets that is filled with explosives!

[@tylerphuoc2653]

That's the one that's sped up as a flywheel and then released as the world's most lethal loose wheel, right?

[@Ceres_5]

@@tylerphuoc2653 Not sure, but did it use rockets?

[@tylerphuoc2653]

@@Ceres_5 No idea, but I just remember watching a video where Adam Savage made a modern one with a motor and a loose axle that could be tugged out

[@Ceres_5]

@@tylerphuoc2653 Interesting.

[@i_forgor7268]

Suggestion: if you want some "Historical" vehicle, try the "Benz Patent Motorwagen" The first practical automobile

[@suitable1317]

That's just a single piston to make tho

[@i_forgor7268]

@@suitable1317 i like to see how it works on scrap mechanic or in trailmakers and on how scrapman will do it

[@oriontherealironman]

I'm loving this trend, thanks Scrapman!

[@Atom_Weaver]

I wasn’t expecting such a good result for the first test drive 👏

[@diesel_clips1440]

I love building walkers but I’ll tell you the amount of keyboards I’ve gone through because of the stupidity of the walkers not wanting to work is insane

[@ProMuchacho]

It is a great idea to build old blueprints. I like it

[@ExaltedDuck]

That's awesome. I'm curious what you would be able to do with the Theo Jansen walking mechanism. I made a semi functional prototype years ago (before survival was a thing) but couldn't find the inspiration to take it past basically functional. But it's a really elegant looking set of linkages, very organic motion. Might be a good follow up to this vid .

[@maximiliangoreperez6973]

you should have a race where each of you base your creation off of a historical machine. I think it would be really cool.

[@waynethehero3368]

Bro this guy's channel is extremely underrated

[@jacobf6945]

You are still a Technical Wizard my good Scapman

[@BrunoCardellos]

Am I the only one that saw a Dino walking? You should separate the legs and control them individually for a better turning function, maybe use different scale (2 instead of 4)? Great video scrapman, keep it up!

[@poddenerwowanykirby6137]

My man you could just bend the body in the middle like in the front-loaders and do WASD steering no need for 4 buttons, but have to say the build is really impresive tbh and the fact that you managed to actually connect tank steering to it is even more impresive

[@TSPxEclipse]

For better stability, the rear legs should be timed as such so that they have a 3/4 delay (180 degrees offset would be a 1/2 delay), allowing for the craft to always have 3 points of contact at all times. The front legs should also be slightly closer to the center of the craft to help balance it between footsteps: an acute triangle is more stable than a right triangle in terms of maintaining equilibrium across the central axis, as it puts the legs closer to alignment with the center of mass. For steering, you can simply add a joint to the middle so that the front legs and rear legs are walking in different angles. Combining this with the added ability to lengthen or shorten the gait of each side pair of legs will act as a quadrupedal analog for a differential.

[@cholsreammos]

I really want to make an eight legged version where for the legs are offset by 90°. So while one pair is in the middle another pair is going down in another pair is going up making it even smoother. If we were to do that we could also add a joint in between the first two pairs and the second two pairs allowing it to steer like your other Walker did

[@zodiakgames]

Or a walker with 360 legs to cover each degree of rotation Ultimate smoothness

[@AnderrWhata]

You should use this mechanism to build an AT-AT from Star Wars. It would be awesome. :D

[@insaneninjabunny]

For walking mechanisms, check out some old school zoids. When they’re barebones without armor, you can see that they rely on similar concepts to this platigrade walker, but some of them had steering mechanisms built in, and more moving parts to make them look like real animals in motion.

[@Wingbomb123]

Scrapman can you make a tutorial on logic gates in trailmakers

[@wo0dy]

That is one of the sickest things I have seen. GG Scrapman

[@axemeagain2554]

This one was Awesome! Looking forward to attempting to re-create this in game myself.

[@Scarletdex8299]

Is that a Chebyshev's Walker!?? I remember seeing the CGI footage of such machine in a museum when I was 10

[@ianmccallen2702]

Awesome! Now do a Multiplayer Monday for walker challenges! Loose explosive carry, race, and obstacle course!

[@thecamocampaindude5167]

We use the same motion technique When we Use A BROOM OMG, i just realised something!!!

[@dizzydrc]

Awesome man👍🏼. Love mechanical linkages like this.🤟🏼

[@robertsanders4651]

I'd love to see you try and make a walking mechanism/replica of a strandbeest in either scrap mechanic or trailmakers! 😁

[@therandomtransformersanima6236]

Dude please upload that to the workshop! It’s so satisfying!

[@loganjoy-koer5936]

Multiplayer Monday Idea: The Plantigrade Machine Challenge. It would be fun to try to make the best plantigrade machine possible.

[@datbubby]

Definately continue with this mechanisms in scrap mechanic series :DDD

[@mrbeeznz5196]

You said at one point "im not an engineer, im just figuring stuff out as I go", well welcome to engineering

[@shoop_the_mystic]

Now make an imperial AT-AT using this design for maximum immersion

[@JustanOlGuy]

Learned something new today...Thanks fer sharing...

[@Taloth1969]

Nice job. Funny how you put the nice moving example up in the corner yet build your 45 angle opposite though lol

[@suicidalbanananana]

Yet another nice addition to your recent series, keep it up :D I do think you can improve this and implement some nicer turning if you separate the legs ^^

[@droideka9857]

Omg That’s still so smooth Even when it goes fast so cool you chould build thise for a race

[@sethkotter3545]

I really love these kinds of vids! Keep up the good work :)

[@erikblaas5826]

I had been playing in Scrap Mechanic some years ago... and I made a giant spider ( inspired by the movie Wild Wild West )... not realy as big as the one in the movie ( about 6 by 6 meters, 3 meters high ) ... but working. 4 legs at each side, each controlled by a bearing for forward-backward movement.. the even numbered ones go opposite the odd numbered ones... then in each leg, about 1/3 from the body down to the tip that touches the ground, there is a bearing for some up-down movement. all bearings on each side are connected to a controller to sequence the for-back and the up-down movenents, left and right were independent from eachother, so I had some control over stearing and direction.

[@adamv2915]

Would it work if you put the steering in the ankles and had the two feet that are down twist so that when the next feet come down it's off from the original line and then repeat. Just wondering 🤔

[@ThatVoidGuy]

I love this series!!

[@KiwiSenseiYT]

the demonstration walker car at the beginning, made me want to see a multiplayer episode with the theme of racing vehicles with offset wheels like that, maybe even evolution if plausible xD

[@alectryon2478]

Use multiple bearings for where the powered bits spin, so then you can have multiple input affect your speed/direction. You could then use a simple sensor-block turn thingy to reverse one side while continuing on the other, allowing for turning on a dime, and also allowing the normal wasd input

[@Scyth3z]

If you want to have legitament turning I would think you would need the lags to go up and down much faster than they are now, even if its just for turning and not just walking. This would be to couteract how fast gravity would make you fall and let only one side have grip at a time while rotating the entire mechanisim to rotate the base. Sorry if I didn't explain this the best, I have trouble doing things like this.

[@niceman_ak7940]

Do a race with wheels on uncentered bearings for multiplayer monday

[@baxterboy123yt]

This would be so good

[@LiveBread]

Yeah

[@startingsomewhere9082]

Yes

[@FuelDropforthewin]

Yes!

[@ahillbillyrider7383]

I'm pretty sure they've already done that

[@ralphbaker2850]

Try hinging the platform in the middle. The horizontal purple bars will have to be splined to allow them to expand and collapse. The real trick will be the timing as the turn will have to happen as the weight comes off of one foot and completed before taking the weight as it is planted.

[@iainburgess8577]

.... If you disconnect the front & back legs, and add some logic, you can get to one planted leg to pivot around, W the 3 other legs, and increase the turn rate that way. Turning in motion becomes a differential stride pattern in any legged walker unless you use body flex turning. Thinking about it, a logic controlled stride pattern W player body steering that shortens stride on the inner side by detecting W sensors may be the best result... Could also pattern for longer stride on the outer radius, button interrupted plant & pivot (1 fixed foot, 3 in motion) for tight pivots... Possibly multiple speeds? Pass it on to KaN?

[@8bitarmory846]

3:16 I honestly didn't expect to see Thang featured here

[@AWBO.]

My favourite KZbinr.

[@foxcatdemon318]

I’m glad you building it for me and that I am not the one building it lol

[@captainsnekk]

Alternate title: making a overly complicated mechanism to make a leg spin around circle

[@anarchopupgirl]

I reckon you can implement steering with some of the legs selectively shortening slightly with pistons

[@dlionthesurvivor9690]

I didn't know that was possible and scrap mechanic though sometimes you just completely surprise me 👍

[@nojusisnarauskas2343]

This was actually an extremely cool video

[@SivaMacca]

What I like to do is try and build what you build in scrap mechanic except I build in trailmakers. And this is gonna be a fun one

[@ldkman.]

This seems like a great survival build