New year's starting good! I finally prepared the instructions for the NXTAPOD, a six-legged walking robot that can walk straight forward and turn backward, driven by a single motor! This is made possible by a latch mechanism. The robot can be built with a single NXT 2.0 retail set, and its programming is really simple: go forward until the Ultrasonic sensor sees something, then reverse motor direction for few seconds, and begin walking forward again, and start loop again.
Check it out here!