November 2009: This simple hexapod robot can walk and reverse-turn using just one motor. It can detect obstacles using the ultrasonic sensor. The programming is really simple: the robot steps forward until the Ultrasonic Sensor measures detects a nearby object, then it reverse the motor direction and a clever mechanism allows the backward-turn maneuvre, driving just one row of legs.
Here’s the latch mechanism that does the trick:
Built with one NXT retail set 8547. You can download the building instructions and the program from the link below.