Steerable Lego walkers

In order to physically ground Asa's concept of "walking" we gave it control of a Lego robot walking machine. To make this a useful agent we mount on the walker some of the devices/sensors that we wish to have mobile; cameras, solar batteries, etc. For this to be practical the walker needs to be able to turn. Dawson, et al's "strandbeest" (From Bricks to Brains, AU Press, 2010, pg 135) and Valk's "strider" (The Lego Mindstorms NXT 2.0 Discovery Book, No Starch, 2010, pg 121) are possible examples.