Mindstorms® Hexapod
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This small walker inherits his mechanism from the large family of 3 DOF hexapods.

Two motors swing external legs forward and reverse

A central motor leans robot left and right, driving internal legs.

It is quite fast and can turn in its place.

Also, an IRPD could be developed, using a standard Lego Light Sensor as proximity sensor, using signals emitted from IR port of RCX.

The robot is built only with a Mindstorms RIS 1.5 kit. 

 

The motors that drive external legs have a gear ratio of  8:40*8:24 that is 1:15.

To control their center position, I used two touch sensors pressed by cams.

Middle motor has a gear ratio of 8:40 and uses no sensors: center position is reached automatically by setting the motor in floating mode.

 

To control it, I developed only a simple routine that responds to IR remote,

using message 2 to go/stop/reverse and messages 1 and 3 to turn in place.
Bottom view.  

Built in April, 2005