How Few Motors Does a LEGO Biped Walker Need?

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I test LEGO SPIKE Prime, SPIKE Essential, and MINDSTORMS biped walkers with fewer and fewer motors. Each robot must complete the same course: a downhill ramp, a straight section, and an obstacle. How few motors does a LEGO biped walker really need?

Last walker is inspired to a design by Stu Nicholls.

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