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The “Crawli” walker is a small double actuator that resembles walking when actuated. It is designed by XYZAidan.
The fabrication process is described in detail on the [http://www.instructables.com/id/Simple-Walking-Soft-Robot/|Instructables page]].
The molds are available for download on Thingiverse.
The 2 legs act as sleeves for the tubes and use a Y connector adapter and 2 sizes of tubes.
From the instructables guide:
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.
Unfortunately, similar to the linear extending actuator, we encountered difficulties with separating the mold from the silicone. We weren't able to test this mold.