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How the mechanism works
You can see a video of the Walker without decoration elements here.
Here you can see some pics of the mechanism:
Blue: The transmission between motor and yellow axle.
Red: This worm gear drives the yellow axle.
Yellow: This axle drives the brown gears.
Brown: The brown 1x2 technic pieces are directly attached to the legs and make the AT-AT walk.
Here you can see the grey frame:
This is how the motor is attached to the mechanism: