ANT is a 2-motor 4-leg walker based on master-slave dual bicore architecture. The circuit design is inspired by Tom Gray's "Springtail" . The original circuit by Gray is available here. Apparently, Gray came up with this circuit subsequent to the mod challenge given by the "Junkbots, Bugbots, and Bots on Wheels" book. ANT's circuit is almost the same circuit used in Gray's Springtail. The only difference is the turn switch which is using SPST instead of SPDT orientation found in Gray's circuit. This allows the use of BEAM style tactile sensor (spring). A little modification to the turn circuit gives a short delay of turning (Contributed by Wilf!). Signal smoothing resistor, 10K, is added for each reverse switch (as recommended by Junkbot book) to ignore accidental trigger. 0.1uF ceramic cap. across the motor acts as a noise filter. Both motors are modified (internal PCB removed) GWS sub-micro servo model "Naro Pro/Std" (D:27.0*12.7*24.65mm @ W:13.00g).