Hexapod controlled by an iPhone

This hexapod robot is controlled by an iPhone, via Apple iPhone's touch screen and accelerometer. This is a homegrown application for the iPhone was written by the video author, Robert Stephenson. The forward kinematics includes six degrees of freedom for body orientation and three DOF for its movement. The inverse kinematic ("Inverse Kinematics") is used to determine the orientation for each leg. As an additional feature, the hexapod demonstrates his slow-music dancing skills. A hope remains that Lady Hexapod will arrive to share in the fun :-) http://www.youtube.com/watch?v=QLo5CllH2js