I have done this one: put two different colored books in the center of a table, one on top of the other (say, a blue book on top of a green book). Then tell the students that you are a robot that can follow only these instructions:
1. Move forward one step
2. Turn clockwise (90 degreees; demonstrate)
3. Turn counterclockwise (90 degrees; demonstrate)
4. Pick up a book
5. Put down a book
The robot can hold only one book at a time. Tell the robot how to switch the books so that the green book ends up on top of the blue book, and the books still have to be in the center of the table. Either have the students work in teams and come up with a list of instructions and then follow them, or -- more fun -- have them give you instructions on the fly and act them out.