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This was built before I realized just how hard it is to make something walk on two feet! It has a "swinging" battery on the top servo, and it does walk (flop from side to side). I have a video somewhere and will post it once I find it. It is not longer being worked on and needs a total redesign to actaully be able to work/walk smoothly.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/biped-walker