Holy! That’s a big font!
Love the gait. I’ve spent a lot of time recently thinking about a quadruped and this really turns me on. It’s got a good stomp factor to it. Have you got it turning or sidestepping yet?
Oops, fixed that…
Thanks! Actually, the way I have it coded right now, it is very simple to change from forward to turning motion for example (forward would be: { leg1.moveForward(speed); leg2.moveForward(speed); leg3.moveBackward(speed); leg4.moveBackward(speed); } and turnLeft would be: leg1.walkForward(speed); leg2.walkBackward(speed); leg3.walkBackward(speed); leg4.walkForward(speed); }), the problem is that for turning with the setup I have right now there is no dynamic stability (meaning 2 leg support at the time is not enough for turning while it can be enough if you have the right speed and duty factor if I understand this correctly). While I could change it to always have 3 legs stability, it would be quite easy and I already had that, I kinda like this gait for forward motion because it is quite fast. For turning I would like to have 3 legs always on the ground, but mixing the two gaits is not that easy, at least the way I have it set up right now. I will refactor the code soon, I just have to experiment some more before I get to it.
Sidestepping I don’t even know if it’s feasible to tackle, because these 2DOF legs can’t move really far in that direction, so it would take ages to get somewhere… but yeah, maybe for minor adjustments in y axis… 
Very nice robot
I like the way it moves and the design is simple and efficient. Great work ! I hope to see it turning right and left soon
Hi RawBot, the bot moves
Hi RawBot, the bot moves well, and looks great too. how did you make the server brackets?
Ah yes, 2DOF
I swore it had a couple extra servos. No big deal. Still love it
what would happen if the
what would happen if the right legs went foward and the right went back would it turn nicely? or what?
im thinking about a 4 leg
im thinking about a 4 leg robot but want to use a picaxe that can control at least 12 servos do you know of a chip maybe 40x1 but is there a board that works with the 40x1?
You may try SD21 servo
You should try the SD21 servo controller. You can control up to 21 servos and also you may use the picaxe 18m2 chip inside of it for your other needs. I have one and I must say it is a blessing: easy as hell to control + adjustable speed. What more could a man ask for? 
Thanks! Hopefully I’m going
Thanks! Hopefully I’m going to post a video showing that tonight/tomorrow. If I can find the time :)
Hi!
I uploaded some pictures, I hope now you can better see how the brackets/leg was constructed. On the first prototypes made out of thinner plastic I had to do quite a lot of heat bending to increase rigidness, therefore the logical choice was to pick something that already has the 90 degree angle. 
Here’s how the right angled L piece looks like (the picture is upside down):
Yeah that’s how you turn,
Yeah that’s how you turn, but with the timing you see in the first video where there are only two legs supporting the body, it would just trip over… especially with my current weight distribution, where I have one big heavy 6-battery-holder of batteries in the middle of the body. Current gait is good enough for fast walking, but not well suited for turning. If I change the gait to crawl gait (always 3 legs on the ground), it would definitely work.
sd21 servo controller
sd21 servo controller hmmm… where can I get it and is it programable with picaxe basic?
is it possible to program
is it possible to program the gait to be the same as in the video but when it goes to turn then the gait could change?
Nice
This thing looks awesome man. Walks really well and seems pretty quick!
good job!
please update video
please update video
Thank you!
Yes, I think it is quite fast too, it even walks better (at least more stable) when going fast. I’m uploading a new video with crawl gait for walking that shows a bit of turning at the end.
Hi robokid
I think it is :). Like I said I’m thinking of different ways how to tackle this problem. At the moment to achieve this I have to reset the legs positions with the Z button on the nunchuk. You’ll see it in the video I’m uploading. I have to come up with something more elegant, I think. I mean I could do it automatically before it decides to turn when programming an autonomous mode, but I feel there has to be some better solution, that would be more natural and universal. In the video I’m uploading you’ll also see that the quad moves forward with the crawl gait this time, but opposite to what I thought, it is turning quite well only on two legs, only the timing of the step has to be different (the same as for the crawl gait at the moment - duty factor of 0.75, so three quarters of the time of one step the leg is on the ground and one quarter in the air). Probably I should post the pages of the book I was talking about, so we can all be on the same page (pun intended :)) with terminology and the gait theory will be 10 times better explained there (with graphs and all ;))
i love it! coolest quad yet.
i love it! coolest quad yet. I actualy dont think that the reseting of the legs is that bad kinda looks like it is striking a pose the walking of the robot rocks so smooth. just a thought try rhe picaxe 28x1 experimenters board (get it here: http://www.solarbotics.com/products/28541/ ) it can control up to 8 servos and I think three analog inputs and 8 digital inputs but it is so easy to control just type in the program editor servo 0,1,2,3,4,5,6,7,or 8, 150 to get it to go to center that easy! hope you dont mind me asking but how old are you? im twelve?
Yeah it looks kind of
Yeah it looks kind of predatory doesn’t it, like it’s going to attack For the moment I’m quite happy with the arduino and it’s capabilities (software and hardware), although I’ve heard that picaxe is also great and cheap. Definitely have to grab me one of those sometime, maybe for smaller projects. BTW, KatteJuice’s SC-QR-1 quad was built with picaxe if I’m not mistaken and it worked very nicely. Check out the video http://www.youtube.com/watch?v=H-SIA3eCamc , I think he says in the infobox or in the comments which picaxe he’s using (I think it is 28x1, or is it 18x1, not sure…). Basic is really simple for servo control I’ve heard, but AFAIK you can’t have microseconds accuracy for servo positioning (PWM), which arduino has (although I’m currently not using it with my code yet, it should work smoother when I increase the position resolution from degrees to microseconds). Also I don’t know if I can write my own libraries in basic?
I’m 28.
Thanks for the kind words and support!
I saw that video years ago
I saw that video years ago when i had just got into robots then when you said something about it I thought oh my gosh I remember that! I’ve been whatching your videos and kattejuices videos and cant decide which leg design to go with so I thought i would try my own leg desing so far its just 2 pan tilt mechanisms with with lexan “hoofs” looks kinda like the first link you have about the dof leg design only the legs arent so stuby! by the way the controller kattejuice uses is indeed the picaxe 28x1. your right the arduino is way better than the picaxe Its just that i wouldnt know how to program even a blinky led!