This is actually my first efficient biped. It uses 3 motors, 2 at the ankles and 1 at the waist. It can also turn, because of this. My earlier biped used only 1 motor, and it did not really walk; it swiveled. This biped was also my first real program in NXC, although the programming can be done in NXT-G. You can see more about this walker and all my projects at the NXTLog through this link.
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