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BEAM From the Ground Up is a BEAM Reference Library site.

Andrew Miller's 2-motor walker tutorial
The Andrew Miller memorial tutorial

The material in this appendix is directly derived from a set of tutorial web pages authored by Andrew Miller. Andrew has since moved on to other pursuits (that pesky "work thing," don'cha know...), so in the interests of education, I "prettied" up his treatment a bit (the original was so rich in font styles, that it was a bit distracting), cleaned up some terminology and spelling, and gave it a home here.

Thus endeth the preface...

"How Do I Make A Walker????"

The fact is it's impossible to teach someone all the empirical knowledge and skill base that goes into a BEAM walker. But in the following material I will attempt to describe the MicroCore and its implementation in a 2-motor / 4-leg walker. Take note, this is by no means all the info that is possible but it should get you started. I've tried to make it as straightforward as possible.

1 What is a Nv Network ?

Some other interesting thoughts on Nv Nets Here

2 The Basic Circuit

3 What to do with the circuit

4 Leg Mechanics

5 The MicroCore / Legs Interface

6 Convergence , or the subtle art of falling over


For more information...

Tom Mairs has another version of this material on his site, and Dave Hrynkiw of Solarbotics has yet another elsewhere on

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Page author: Andrew Miller
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