Walker

The linkage that runs this walker is based on Theo Jansen's amazing STRANDBEEST creatures, which I saw at the Peabody Essex Museum.

The linkage in the leg gives an exceptionally long flat travel period for each foot. That flat travel for each foot makes it possible for the walker to carry the fairly heavy RCX battery pack (6 AA).

This version has two motors, one powering each side, and a sensor behind the head, as well as a touch sensor monitoring each motor. When the head bumps into something, the beast would back up and turn, then start off in a new direction. Turning is tricky because it is important to know which foot is where; if both right and left sides raise a foot off the ground at once, it will topple.