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How To Make Theo Jansen Inspired Walkers - Explained

How Theo Jansen came up with this brilliant design, I don't know. It's hard to understand its workings even when explained as clearly as in this video. Did you know that the kinetic sculptures based on this design are so efficient at moving around, that a several tons structure can easily be pushed around by a single man, even when walking on sand. This isn't possible even with the most advanced wheels-based system, and yet these walkers do it quite effortlessly. Genius stuff!
Source: youtube.com