How did Elmo and Zoe's legs move?

Schfifty

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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

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Maybe Waldos or maybe paint out the rods just speculating.
 

JC Motors

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