A mechanism simulates the perfect human walking and it is just a linkage connected together based on Theo Jansen Technique, the DC motor is connected to the gearbox 1:2 and then connected to the mechanical linkages to reduce the speed and increase the torque.

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00:13 DC Motor Bracket Assembly
01:04 DC Motor & Gears Animation
01:12 Walking Linkages Assembly
02:05 Mechanism Animation