I just received Joe's book and am impressed with its quality and readability.
The book has building instructions for six walking robots, plus one robot on wheels. (The two robots pictured above are from Joe's book).
The building instructions are done with black-and-white photographs and are sharp, clear and easy-to-follow.
The programming instructions are in NXT-G. Six of the robots' programming instructions are easily understandable to the English reader, despite the book being written in Japanese. Programming instructions for the rolling robot are extensive and are not easily followed by the non-Japanese reader.
Joe's book can be ordered