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Here it is my own reproduction of the famous Zion Gatekeeper from Matrix.

This is a COG-Shifting biped.

(based on a design by Joe Nagata, but heavily modified and improved)

It uses 3 motors and 1 touch sensor:

Motor A: right leg hip bending
Motor B: left leg hip bending
Motor C: legs turning

Sensor 1: legs position

This model do not have a real behaviour program:

the only code I wrote was meant to make it walk straight, even if is very simple to make it change direction in its own footprints.

Basic walking procedure is as follows:

  Leg centering routine

  Bend on the right

  Turn hips to move left leg forward

  Bend on the left

  Turn hips to move right leg forward

 and so on...

Rear view

                                       Cockpit view with pilot:

More photos in my Brickshelf® Gallery .

Here's a video.

Built in February, 2004