I featured Jerome Demer’s ingenious little one-motor walker in my book Absolute Beginner’s Guide to Building Robots. I’ve been hoping he’d put up an Instructable and he finally has. This is a bit of a finicky mechanical build, but worth the effort. It uses a standard BEAM bicore circuit as its brain (via the 74HCT240 chip).
How to build the one motor walker!
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On the BEAM Wiki there are a lot of descriptions and tutorials for walkers:
http://www.beam-wiki.org/wiki/index.php?title=Walkers
You can get a parts bundle to build this robot from Solarbotics for $30.90 at http://www.solarbotics.com/products/abgchw/.
SheekGeek also have a one motor walker kit for $47.50 that is larger and looks like a black widow walker at http://sheekgeek.com/index.php?main_page=product_info&products_id=11.