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Here is my version of a NXT-Crane Hybrid. Using the LEGO NXT Mindstorms system and the #8292 cherry picker.

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Click the link for lots more photos and information

This was a video I put together to show how a simple leg mechanism can be built with LEGO parts. Six of these legs combined then give a very basic hexapod robot.

In the video, I have 1 motor that turns both sides, but it would be possible to have separate motors to enable the robot to turn around as well. You just need to be careful and make sure each side is properly aligned. The photos below show how the rotational movement of a gear can be transformed into the 'walking' movement of a leg. Notice the motion of the foot (orange L piece) as the black gear turns around in an anti-clockwise direction.