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 Two
motors drive left and right legs to walk and turn, just like a differential drive mobile
robot.
The
third motor is the head itself and can move inwards.
Varying
a bit the shield design, the ultrasonic sensor can be added.
Walking
motors drive with a gear ratio of 8:24 a gear train that moves
eccentrically the legs,
moving them in circle up forward, down and
backward .
The
motor-head shaft is connected to the chassis with two 5-long beams:
a few degrees rotation brings the head under the shield.
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