I found video from Akiyuki Brick Channel with a very interesting looking LEGO tentacle assembly. It looks like it has quite a lot of motion, and it only has four motors. Each motor controls a stage of the machine – driving what is essentially a turntable, but with each motorised part set at 45 degrees. Based on the combination of each rotary section, the tentacle is able to do some quite interesting motions as it reconfigures itself. There are lots of other really great builds in this channel, s
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