Danny's Mindstorms® At-St
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This page is not connected with or endorsed by The LEGO Company. LEGO, LEGOLAND, LEGO SYSTEM, LEGO TECHNIC, DUPLO, LEGO PRIMO and LEGO MINDSTORMS are trademarks of The LEGO Company. Star Wars and AT-ST are trademarks of George Lucas Company.   

This is an omnidirectional walking biped, shaped as the famous chicken walker in Star Wars movies, the All Terrain - Scout Transport, AT-ST for friends.

It can walk straight and turn on its own footprints.

The mechanism is similar to the APU one, but it is emproved and smoother.

I tried to render aesthetic details at best with few special parts I had.

The robot is built only with Lego Mindstorms RIS 1.5 kit, plus one motor.

 

A motor is used to turn both legs in parallel at hip level.

Gear ratios are: 8z - 24z clutch gear; 8z - 40z.

On both legs a motor lean the robot at knee level.

You can see the gearing on the left.

The cyan ribbed hoses make the illusion of the real shape of AT-ST legs, and allow more stability, working as shock absorbers.

The laser guns act as a bumper: a touch sensor detect if they  hit something in front of the biped.

Between pilot panels on the front, I put a light sensor that, together with the RCX IR port, work as a radar, detecting objects without bumping; also, it can be used to track light sources.
Bottom view. Leg detail. Here are videos of AT-ST walking.

Built in December, 2004