Current project
Walking Castle
A house that can walk — or drive — to a new spot: a meadow, a hillside or the beach. I am working through four concepts, from a walking dome and a six-legged capsule to a beach house on wheeled legs and a 1:32 desktop model. Each one has a FreeCAD model, renders and engineering calculations of masses, loads, drives, speed and stability.
All calculations are conceptual, without FEM strength analysis.
Visualisation: on the beach at sunset
Village concept
Village
Mobile homes on the beach and on the slope, with autonomous power from rooftop solar panels.
In motion
A house that rises above the tide
Concept 3 Floor height change from 2.38 to 3.88 m: the legs extend at 10 mm/s, a full stroke in 150 s (sped up ×25 on screen); seamless loop.
Animation of the CAD model based on calculated kinematics, sped up (factor shown in frame). On-screen labels are in Russian.
More animations
Concept 1Scheme B, two step cycles: the legs lift the body, the shuttle moves it forward, the body is lowered onto the plate and the leg frame is carried over — then a 30° turn.
Concept 2Tripod gait with pantograph-leg kinematics, sped up ×16.
Concept 3Driving onto a beach with a 10% slope at the working speed of 3 m/min on sand (sped up ×20 on screen), then levelling, outriggers and the scissor ladder.
4×Four concepts
Choose a concept to see its specifications, renders and documents.
Concept 1
Dome on four legs with a central plate
A geodesic dome that walks like a walking excavator — with only six drives.
Ø 6.0 mgeodesic dome11.6 twalking mass6drivesOpen→
Concept 2
Six-legged capsule module in the spirit of ASV-84
A six-legged capsule: two electric drives per leg instead of hydraulics.
6pantograph legs11.7 twalking mass0.86 m/minwalking speedOpen→
Concept 3
Beach house on wheeled legs
A beach house on 8 forestry tyres (2 per leg) that levels itself and rises above the tide.
8wheels, 2 per leg≈21.8 toperating mass1.5 mleg strokeOpen→
Model 1:32
Desktop walking model 1:32
A 3D-printed 1:32 model of Concept 1 with seven SG90 servos and an ESP32.
1:32scale7 × SG90servos≈521 gmassOpen→
Photorealistic images are concept visualisations; technical images are FreeCAD model renders and calculation diagrams.
↓Downloads
Every concept is documented in English and in Russian (the original). Model files are in the ZIP archive.
- Concept 1 Dome on four legs with a central plate
- Concept 2 Six-legged capsule module in the spirit of ASV-84
- Concept 3 Beach house on wheeled legs
- Model 1:32 Desktop walking model 1:32
All calculations are conceptual, without FEM strength analysis.
Interested in the project or want to collaborate?