Yellow Dwarf

October 2004: Compact, smooth, and powered by only two motors, this little biped robot uses a standard Lego Light Sensor as proximity sensor, using signals emitted from IR port of RCX.

• The first motor drives the feet through a worm gear, allowing a smooth walking, that makes the robot shift its weight while stepping.
• The second motor in built in the left foot, and allows the robot to turn.

On both feet a touch sensor lets the RCX know which foot is on the ground. The robot is built only with a Mindstorms RIS 1.5 kit.