Electronically, this dude is nothing but a battery pack, a servo, and a direction control switch. Mechanically, it’s just as simple: A couple of rulers for legs, some Tupperware for feet, and a few odd bits of hardware. Oh, yes: And a comb.with a row of teeth broken out for a two-way limit switch. Details in this tutorial by Instructables community manager Randy Sarafan.
Inchworm walker with clever analog control hack