So I could say thay I've made it from scratch. I think there is nothing on the internet about this how I solved it. I was making this locomotion system for about 3 months, it took me so much time because I've needed to search over all internet, heheh, then I've connected dots from many places form the interent and done. xD I think this locomotion system is very easy to make when you know how to make it. My previous comment describes it the best how I've made it, I think.