Maker Jeremy S. Cook has been building Theo Jansen-style walkers for literally years, and after several iterations has come up with what he calls the “ClearCrawler.”
This little guy stands at just over 15 inches tall — including its comparatively large clear cylindrical head — and travels around via a pair of motors that move four legs on either side like tank treads.
For control, Cook is using an Arduino Nano onboard, along with a motor driver, plus an Uno and joystick shield as the remote unit. Communication between the two is accomplished by a pair of nRF24L01+ radio modules.
Code for the project is available on GitHub, and the build is split up into an electronics and mechanical section in the videos below.
[original story: Arduino Blog]