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1/17/2014 - Walk with Tail algorithm and video added. This project is much more interesting than I originally thought. The walking mechanism is adopted from the Lego book. Four legs are driven by two RCX motors. A servo motor in the back is servered as a tail but I have not figure out how to use it yet.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/ardudino