What makes Grunt stand out from all of the other projects in this book is that he does not use wheels or tank tracks to move around. Instead, he has a simple walking mechanism that allows him to move around on two legs.
Two EV3 large motors power the legs, one for each leg (ports B and C). Each motor directly drives a large 36-tooth bevel gear, which serves two purposes—it acts as a cam onto which one point of the leg is attached, and it transfers the motor's power through a 12-tooth gear to a second 36-tooth bevel gear, which acts as the second point on which the leg is attached. When the motor runs, the entire leg moves in a circular stepping motion. The two legs can move independently of one another:
Because these legs ...
