How to Make the One Motor Walker (without Bicore)

Hi guys, maybe some of you are familiar to Jerome Demers one motor walker and other one or two motor B.E.A.M walkers. This project is highly inspired by those things. The idea is to build a walking machine that has similar gait to one or two motors B.E.A.M walking robots . The oscillating motions on the legs of B.E.A.M walker produces by an amazing small circuit created by Mark Tilden called bicore. In this project, the oscillating motion produces by linkage mechanism. The reason why I designed this mechanism because I had very basic knowledge about electronic back then, and I was really excited to be able to build a B.E.A.M walker. It was a big challenge that I finally completed through some experiments.

The Mechanism

Parts Needed

(1x) full rotation micro servo
(2x) jumbo paper clips
(1x) small paper clip
(2x) terminal blocks (3mm)
(1x) terminal block (4mm)
(1X) used aluminium curtain rail
(1X) random plastic bar
Iron wire (2 mm)
Double-sided tape
Brass tube
(1X) small zip tie
(1X) battery holder (2 x AAA)
(2X) lock nuts (3mm)
(3X) nuts & screws (3mm)
(1x) nut & screw (4mm)
(5x) washers (3mm)
(1X) washer (4mm)