This is a CAD I made of Andres Bella's bipedal mech (with some of my own improvements added in to the CAD). It is entirely mechanical and isn't really a robot since it has no sensors at all. It consists of basically a cam and pulling a leg up . As you can see I color coded each piece so it will make it easier for anyone who wants to build this mechanical beast.
I never built this robot , and probably never will. However if I were to build it I would put some sort of encoder to see how far the leg has moved so you get better control. One thing to be careful of is that if the legs move to far the robot will tip over and fall , so this isn't really a good bipedal robot for anything besides flat surfaces.
If you look below you see another view of the robot . Looking at the leg you can see that there are approximately two fulcrum points on the leg. The motor turns a cam(red) which in turn pushes or pulls the main leg(yellow) using a length of bar(green) . The main leg(yellow) is itself on a fulcrum that can be seen towards the top of the leg.
