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LEGO models my own creation MOCpages toys shop SICO T7: A COG-Shifting BipedRobotics
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SICO T7: A COG-Shifting Biped
SICO T7--pronounced "psycho T7"--is a COG-Shifting biped with a name that contains an interesting acronym.
About this creation
SICO T7 is a COG (center of gravity) shifting biped. His name is properly pronounced “psycho” and not “sicko”. His name is actually an acronym and has a bit of history behind it. One of the first COG-shifting bipeds was built back in late 1999, by Mario and Guilo Ferrari, and was named S6. My robot is based on S6 and is therefore called T7 in its honor. The acronym goes like this: Keeping S6 in train of thought, my robots name is… Similar In Comparison Otherwise T7. Interesting!

More on SICO T7: he belongs to a class of bipeds that are known as COG shifting. They are called this because they shift a portion of their weight, also called a ballast, to one side to change their COG. This done, the robot can advance the leg with the weight on it. Although this procedure is not exactly elegant in these robots, this is the way you and I walk! In my robot, the heaviest piece in the RIS set (and probably one of the heaviest LEGO pieces too!) is used as the ballast.

To download instruction steps and the program for SICO T7, please visit my website to do so. Go to:

This is the front page of my website “The Art of Brick”. Go to the "Instruction Step Zone" and SICO T7 is currently there. If not, just go to the "My Robots" section and look for it there. Thanks for looking!

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   This is a POV-Ray rendered picture of SICO T7

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   Here is some of the inside gearing

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   Here is a shot of the back of SICO T7

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   Here is the rack that moves the head

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   A change of weight

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   Lets go the other way!

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   The real SICO T7

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   Here you can really see him standing on one leg

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   This is a touch sensor to monitor how far the leg is advanced


 I like it 
  October 30, 2006
Cool bot, I really like it. About how fast can it move?
By David Perdue
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Added July 10, 2003

LEGO models my own creation MOCpages toys shop SICO T7: A COG-Shifting BipedRobotics

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