Shelly is a rideable animatronic hermit crab with a leg assembly inspired by Theo Jansen's windwalking creatures. The Jansen linkage design spec is very available online, so I was able to use it, and learn a lot about it along the way. By adding a shell to the custom made chassis, a cohesive creature emerged and Shelly was born. Currently, her motors run off a 36V system with energy stored in Lithium Ion batteries. In the future, I'd like to use a Honda 2200EUi to directly convert AC to DC, through a capacitance system into her speed controller so she can be fueled up without recharging. Her original motors were ridiculously underpowered (250W ebike motors with planetary gearing reducti), and would stall frequently, causing damage to them. I've since upgraded her motors to be two MY1020 800W brushed motors with 2 gearing reductions to get to down to 250 RPM for legs & wheels.