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Hokey Pokey Biped

Like many people, I wanted to build a humanoid robot. The first major step in building a humanoid is a 2-legged walking robot. So I built a 5 degree of freedom per leg robot. But just like many people before me realized, it is very difficult to program a pair of legs that complicated. So I simplified it down to a 3 servo per leg walker. One servo at the hip, one at the knee, and one at the ankle to shift its weight onto one leg.

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