These shoes use a servo motor to drive them.
This project has been featured on Gizmodo, Thanks!
The Here is a video to show how they work.
Step 1: Supplies
1 3/4" Wooden Dowel
1 Full Rotational Servo with direct drive (Look at these instructables for how to: Direct Drive and Continuous Rotation)
1 4 AA battery pack
1 pair of old shoes
Step 2: Make the pivot arm
2 1 inch dowel pieces
1 4 inch dowel piece
Use wood or gorilla glue to attach the 1 inch pieces to the 4 inch piece and let the glue dry over night.
You should have a nice s shape to work with
Step 3: Install the Motor
Next wire up the motor and test it out. I included a switch for easy turn off. I also added a small zip tie to prevent the motor from moving around
Lastly you want to glue the arm onto the servo head plate.