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UPDATE 24.April 2011: New video! :) I implemented automatic resetting of the legs positions before changing from forward/backward walking to left/right walking. This is to ensure proper leg offsets. Previously I had to press the Z button on the nunchuk to reset, now it happens automatically, so one step closer to becoming autonomous. In this video the gait is the same for walking and turning (trot gait) only the duty factor is higher for turning (beta = 0.75) which means the leg stays on the ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/arduino-quadruped-walking-robot