Thanks, joshlobo. I'm working on this right now. I made a first version of the transformation. Everything is looking good for me, except for the arms. I have to plan a better thing for them. https://img366.imageshack.us/img366/499/trans069uh.jpg https://img462.imageshack.us/img462/8743/trans077nl.jpg Making this, I figure out that I have some improvements to make on the robot's geometry. I will take this in consideration in a next sketch.