DSDK AT-ST

I was contacted by Syngress Publishing because they wanted to make a step by step construction for the Dark Side Developer Kit. After many prototypes, this is the first biped I completed for the book: LEGO Mindstorms: Dark Side Robots, Creatures, and Transports.

Complete building instruction can be found in the book.

Most of my bipeds are weight shifting (or center of gravity (COG) shifting) bipeds. DSDK AT-ST is no exception. It took a log of work and variation to get AT-ST to be able to shift weight, and yet not fall over. This issue was complicated by having the Micro-Scout and its two AA batteried, as well as the face of AT-ST so high above the lean point (the knees).

I ended up having to gear down the motor output so that AT-ST didn't rock side to side so fast, and things got more stable.