A recent challenge by LRGoAA was to build a walker. Several years ago I had built a prototype pneumatic walker, but I could never get the COG/COM right and it would tip over while walking. But this seemed like a good opportunity to revisit my design.

Being fond of complexity, I immediately went with a six-legged walker. After some work I got a prototype unit that worked surprisingly well, but was slow and had several nagging design problems.

I redesigned it slightly and rebuilt the prototype into a "final" unit. Unfortunately, while the final design was vastly superior on paper, when it came to actually functioning it was a major step backwards. It never did perform nearly as well as the prototype for just walking. Something of a disappointment, so I'm certain I'll attempt this again in the future.

	Here's a good side view of the finished bot.
	Top view.
	Underside.
	Slightly blurry side view.
	Detail of a leg.
	The other side of the leg.
	The superstructure has been removed, giving a good look at the frame.