The walker was one of my an early experiments in understanding simple quasistatic "walking" mechanics. Walker was deliberately made simple to prove that it was possible to produce an underactuated bipedal machine that could walk(ish) forward and turn on flat surfaces at very low cost. The system featured a parallel link to a PC running control software, whiskers to detect collision and a salt-water tilt switch to determine if the robot had fallen over or not. The chasis is made of a remote control bulldozer and the drive wheels are basically configured as eccentic cams which drive rotary to linear joints. The feet of the walker are large and will balance the body regardless of the angle at which it leans. collision detection and avoidance is implemented in the same way as it would be for a tank or other differentially steered vehicle. in summary Time to make: 3 days Cost : less than £30.00 Language : C++ Email: c6jones720@hotmail.com