How did Elmo and Zoe's legs move?

[Schfifty]

I wasn't sure where to post this topic, because this kind of pertains to Elmo and Zoe specifically (I don't know if this happened with other characters), but I decided to ask here.

I've been trying to figure out how they were able to make the legs on Elmo and Zoe move whenever their whole bodies were in a shot. There were several sketches in the 1990s where their feet or legs could move, but you couldn't see any rods attached or anything. I'm wondering - were they perhaps remote-controlled through Waldos, or something like that? That seems like the closest thing I can think of, but can someone please elaborate?

 

[MuppetSpot]

Maybe Waldos or maybe paint out the rods just speculating.

 

[JC Motors]

They had the digital technology to edit things out back then if I am not mistaken.

 

[MuppetFreq19]

Speaking of their legs, Was there ever a close-up of Zoe's feet from seasons 25-present of Sesame Street?

 

[Daffyfan4ever]

Waldos? Where's Waldo?