Tilt-A-Ped - A line following biped by 222doc

A few weeks ago 222doc posted a video to youtube showing his Tilt-A-Ped. This was his entry at nxtasy#4.
Tilt-A-Ped is a weight shifting bi-ped that uses two light sensors to follow a black line.
The nxt brick shifts left to right and right to left, and at the point of inbalance it teeter-totters at the ankles, then one of the two leg motors rotate as needed.
The brick is modular, and can easily be removed.
Below is 222Docs video of it in action.


A few days later he posted another video showing Tilt-A-Ped's mechanical features overview