This Lego Technic Hexapod robot walks over some books. It is very stable and has a high leg lift. There is a lot of compliance in the legs to allow for shock absorption and flexibility on uneven surfaces. 2 M motors 1 SBrick.
#legolegsgo
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https://www.youtube.com/watch?v=oKneP9o8pcg
How I power my SBricks. Hobby LIPOs are cheaper, lighter, and more powerfull. Use a JST connector to hook up hobby LIPOs to your SBrick. Altering any product will void its warranty.
SBrick https://amzn.to/3cfeZSQ
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https://www.youtube.com/watch?v=3JQbtcxGtfU
You asked for Lego instructions so here you go. A Lego Technic Motorcycle how to. So simple to build it takes only 10 - 15 minutes because it has about 150 parts. It is all Lego accept for the battery and an SBrick which is sort of Lego.
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https://www.youtube.com/watch?v=lyj7O_rS1OY
Lego Raptor walking robot biped 2.5 - 2.8. I am working toward Raptor 3.0 by experimenting with a leg that flexes side to side and linkage to control the foot path so that it travels under the center of gravity with as little tipping as possible. The leg has to move forward without colliding with the other foot.
Lego Raptor 2.0:https://youtu.be/dZIsDstTSUE
Lego Raptor 1.0:https://youtu.be/Y-TmDSCBgX8
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https://www.youtube.com/watch?v=rZ1Kk8oHPAw