Two Motor Walker is an early attempt at a minimal walking robot.
It's based on the Programmable Brainibot.
Antennae allow it to back-up and turn when it hits an obstacle.
Sensors at the front and back tell when the legs have reached their end-stops (you can see them as short pieces of thick wire). In fact, they're unneccessary - just run the motors for a fixed time, they'll stop when they hit the end stops.
It's easy to get the motor-timing for the robot to walk forwards and backward. Turning is harder but possible: the rubber feet mean that the back legs get a better grip during turning and swivel the front end around.
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