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This is a good idea, but difficult to do. I use to use the ref. 4185 when possible. Of course, a new piece would be welcome.

Are you sure ! ? At 0'20" in the first video : Left Front Leg - Left Back Leg - Right Front Leg - Right Back Leg

The AT-AT has a gait that I would call the camel gait. One side, then the other side. It is this gait that marks the recognizable style of the AT-AT. I invite you to watch these 2 videos. https://youtu.be/GUsOouwjsL4?si=c3JUcEu3YiOGfX_W https://youtu.be/bv_cE58WMzs?si=be5C6v1HG8mwgW19

Moving on a plane is not an obligation. There is nothing to prevent you from using this technique to make what I would call a wrist. Here is a video that shows this possibility. https://youtu.be/3fbmguBgVPA?si=vd-vmWGNSk8QwJoS

Yes, it works ! Sorry, I didn't realize it was an animated GIF.

This looks very interesting. Congratulations. I'm looking forward to the video.

Unfortunately not. My quadrupeds use a gait based on trotting. This gait is based on a 180° phase shift between the front and rear legs, and left right. This is the easiest gait to implement with servos and independent legs. In your case, I would try to study the gait of walking with an ultra simplified mechanism with a single and small motor that you could then apply to your AT-AT. The video posted by @Davidz90 is an excellent basis for reflection, even if it is based on a Theo Jansen mechanism which is quite complex. In my opinion, the enemy is weight and the secret to success is to start small.

Can you tell me what its weight and the dimensions between wheel axes (length and width) ?

And they are protected in the event of a torque overrun.

I wonder if there is a microcontroller inside the Mould King Power Module 4.0. It is probably not open source, but if the microcontroller is common, then maybe someone with the skills could program it.

Very good work ! I use to use GeekServo with 2S (7.4V to 8.4V) battery. It works very well.

I think not. I made and I use a 25L liftarm, it is not fragile at all.

I hope you enjoy watching this video. Beware, sensitive soul, refrain.

You are welcome and your information is very valuable. Thank you.

For @Krxlion. This morning, I have tested a Gray GeekServo with a FlySky FS-i6X transmitter and a FS-iA10B receiver. The servo has a 180° travel. The link to this RC radio control : FLYSKY FS-i6X élasticité i6X 10CH 2.4GHz AFHDS pipeline RC émetteur avec récepteur iA6B ou iA10B pour importateur avion - AliExpress 26 Note: A 2S battery has a nominal voltage of 7.4V, but when fully charged, it reaches 8.5V.