properly best to watch the vid on how it turns.
i have to change gait for this.
yeah i was going to go for the foot sensors too. i am still working on the gait so i can re-add the tubes with rubber caps.
im finding that the backside of the “C” bracket is the right size for stability. i may make something of the same sorta size but incorporate a sensors of some sort.
Is the foot servo needed for anything besides squatting down? If not you might eliminate it to reduce the servo count by four, keeping the foot angle the same. You might also replace the flat foot pad with a horozontal piece of round tubing ~the same width as the foot pad. Should provide the same side tipping protection as the flat foot.
Good question, and some interesting thoughts.
The “Ankle” servo was originally designed to place the foot flat to the ground at all times. im no longer using the large foot but i have found its much more stable with the ankle servo still doing its job. i have already eliminated 4 servos by removing the Coxa’s so i have been looking at saving power and weight, but removing the Ankles wouldn’t be advised due to my findings.
the tube idea would work well but it wouldn’t look as nice.
Did you use the dual inline servo brackets for the legs? And a long C servo brackets? Looks like I’m short a few parts to duplicate your legs.
Alan KM6VV
yes. you might see better looking at this.
http://i531.photobucket.com/albums/dd355/innerbreed/Quad.jpg
The quad performed great in that video! great job! it turns nicely!
Thanks SN96,
i am still improving the gaits. i have some new features to add to the gaits to help with balance and stride.
Jonny,
Yeah, that’s it, although it doesn’t completely reveal the locations of the upper servos.
I’d want to further explore the ankle/toe servo(s) before duplicating your efforts, as a temporary measure. I like my legs, if I can work them out.
Alan KM6VV
your last video was really impressive. I am wondering if it might be more stable if you added some sort of rubbery grip on the feet. The movement was really incredible and for some reason it made me think of this video game called shadow of the colosus. Great work!
i have found that walking on tiles is best for this robot. strangely, adding rubber grip doesnt help at all. the feet grip too much not allowing it to turn or make smooth motions. i am using a felt back tape stuck to the bottom to give it a slightly grippy but slippery surface.
it walks pretty well on carpet too. uneven surfaces are a nightmare though! better now that i have removed those big feet.
thanks for your comments. 
shadow of the colossus:
http://gallery.awn.com/data/514/Shadow-of-the-Colossus.jpg
any chance you will ever make it gallop or trot? that would be so great. Are you controling it real time or is it all precanned?
wow now thats challenge. its realtime control. ps2 all the way.
my servos are not strong enough to pull it off. 
Galloping like a horse is only possible with pnumatics or some sort of spring shock absorbtion system. Isn’t it?
yes this plays many factors, but i do believe one could get the servos to slow there rotation once foot makes contact with the ground allowing for smoother landing. in theory.
Wow Jonny,
You’ve been pretty busy lateley! Especially for a guy who isn’t really “handy” at the moment. LOL
I didn’t read trough the whole post but I like the “cat” style quad setup. Are you using the phoenix code as base? Are you shifting the body (COG)?
Keep up the good work!!
Xan
hi xan, i wondered how long it would be before you found it.
yes its running on v1.3. iv posted the code on page 7
download/file.php?id=642
yes after the stalker quadruped robot i was determined to get a quad walking. and finally i did. im not using any body shift. its purely done by a well calculated gait.
and of course 'a well executed code thanks to you.
i am waiting to get a better camera before i do a final video.
i have made a few improvements and zenta has helped with some of this.
anyway thanks xan,
J
Very nice!!! I love the quick turning and wolfl like stepping! 
Those red led “eyes” give it an even more wolf like appearance.
8-Dale
thanks linixguy,
glad you like it. yeah it does turn quite smooth. im still improving the gait every now and then between projects. im happy with what has been achieved so far but it would have been cool to keep it at 5dof and actually use them as first intended. 8)
LOL, yeah it took me some time
It whould be a cool thing to try shifting the COG to the opposite side of the leg you want to lift. I think this should make it easier to walk on smaller feet. Just trowing ideas! Again, great work!
Xan
yes this was the first idea… i started a thread on it as i began to run into a few problems.
Topic: Using ByteTable to shift the COG.
viewtopic.php?f=8&t=6065
