====== Walker ======

The "Crawli" walker is a small double actuator that resembles walking when actuated. It is designed by XYZAidan.

{{:soft-robotics:molds:walker.jpg?nolink&400|}}

===== Fabrication =====
The fabrication process is described in detail on the [[http://www.instructables.com/id/Simple-Walking-Soft-Robot/|Instructables page]].

===== Mold files =====
The molds are available for download on [[https://www.thingiverse.com/thing:1119305|Thingiverse]]. 

===== Quantities =====

     * TBD

===== Oven times =====

  * [[soft-robotics:silicones:ecoflex30|Ecoflex 30]]: ~25min

===== Air inlet =====
The 2 legs act as sleeves for the tubes and use a Y connector adapter and 2 sizes of tubes.

From the instructables guide:
<code>
Now that it is out of the mold, we can connect the tubing. 
Insert short lengths of the 1/16" tubing into the openings of the legs. 
Put zip-ties around the points where the tubing and the Crawli meet, as shown in the picture. 
Then, connect short lengths of the 1/8" tubing to the 1/16" tubing by pushing
the 1/16" tubing into the 1/8" tubing. Use zip-ties to keep these connected too. 
Connect the short ends of the Y-connector to the open ends of the 1/8" tubing. 
Then use one final zip-tie to tighten the wires together. You can then use a long piece of 1/8" tubing to 
connect from the Y-connector to your air source.
</code>

{{:soft-robotics:molds:walker_inlet.jpg?nolink&400|}}

===== Issues =====
Unfortunately, similar to the [[soft-robotics:molds:linear-extending|linear extending actuator]], we encountered difficulties with separating the mold from the silicone. We weren't able to test this mold.