LEGO MINDSTORMS RCX output Multiplexer (MUX)
April 16, 2004
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APU_frontFebruary 2004: This is a reproduction of the Armored Personnel Unit (A.P.U.), the notorious Zion Gatekeeper robot from the Matrix movies.

It is a biped that walks by shifting its center of gravity and steps by rotating the legs. It is based on a design by Joe Nagata, but modified and improved. It uses 3 motors and 1 touch sensor: a motor for each leg make the hip bend to shift the weight, the third motor in the body rotates the legs to take the steps. The touch sensor is used to reset the position of the legs.