This is one of my favorite videos of his. https://www.youtube.com/watch?v=oYhAKxOlfXQ All movement and actuation is powered by a single motor. The timing is synchronized through gearing and linkages. I am in awe whenever I watch it.
This is kind of like playing a Zachtronics game without using the sync instruction (I think each one has a "wait for signal" concept), but in real life!