true in every word except are we saying that this “unsmoothness” is happening even when both are running the same code?
i think what ever code is used, you should be able to make the steps more accurate by adjustments to the programming.
also it really depends on how the sequences are programmed.
The general consensus here (in the office) is that the Phoenix has a more natural look (curvy) with more range of motion (articulation) and many more “cool” videos. So it just “looks better”. But in fact the smoothness of the motion is about the same with similar programming.
so i guess one can only assume the oval body and sexy slender look is making it look more smooth?
either way great work with the project. would maybe allowing more movement in the servo range (mechanical limit) help with the movement?
great work.
Accurate set-up of the legs would greatly contribute to the smoothness of foot falls and launches.
I think both sets of legs are arranged in evenly spaced 60 degree increments, so the “shape” of the body has no effect. If the Phoenix has more freedom of motion in it’s joints, then perhaps the motions of the CH3 are being “limited” by the range of the joints, and hence the full motions requested are not obtainable?
More thought needed here.
Alan KM6VV
Okay smooth was the wrong transcription. I would say that some movements are not possible with the CH3-R (fast legs down to ground, stand up etc.) because the round style from the hexapod prevent this. The oval style from the Phoenix typ hexapod get more options for bodymovement. The movement in general (smooth steps,body twist etc.) is the same for Phoenix and CH3-R style.
Sorry about the thread jacking here. You want us to move this distraction from your thread?
Hi Jim,
no thats okay. This shows how interesting robotics is and a good discussion is everytime welcome. 
Hi all,
in the next weeks I rebuild my CH3-R from the MK I version to the next MK II version.
Upgrades in that version:
Hardware
Software
(in the near future)
I update you during the working process.
Greatings Matthias
PS: I have a little update to my Sequencer Project, that includes the control via iPhone in advanced play mode.
Enjoy!
Ooh. Very cool. I kinda want to get one of those now… 
Hi all,
short update to the upgrade process. The Pan & Tilt head is allready assembled. For the pan and tilt part I use two HS 422 Servos. The 2,4 GHz wireless camera is equipped with an on board battery. That means, that the camera don’t need a extra power source on the hexapod. The battery provide the camera approximate 5 hours with power. The servos are upgraded with aluminium servo horns and the wires are protected by PE spiral coiled tube.
http://www.exmachina-robots.com/mediapool/81/814606/images/Pan_und_Tilt_Schwenkkopf_mit_Kamera.JPG
The next working steps are the LED System and the power source upgrade.
Greatings
Matthias
Hi all,
the work is still in progress. The main leg upgrade is done with a six Ultra Bright Leg Light System. The system is powered over the SSC-32 Servocontroller and depend on the Leg Upgrade that Jim provide in the forum.
Led Specs
Colour: red
Aperture:3mm
Aperture angle: 20°
Intensity: 7000mcd
Voltage:2,2V
Current:20mA
Series Resistor: 220 Ohm
Here is a short video that demonstrate the Leg Light System,enjoy!
Greatings
Matthias
Cool, the leg light are just awesome! 8)
Thx it was a lot of work but no end in sight. 
The next working step is the new internal wiring. I short the servo wires that they fit apposite to the SSC-32 controller. Further I install two extra Light bars near the controller boards to illuminate the internal chassis.
Hi all,
the new pan & tilt head is ready assembled and later I will be share the pictures with you. The new head design limits the pulse wide of the tilt servo. I can only use the pulse wide from 1500 - 2000. I check the code for the deck servos and want to limit the pulse wide for the tilt servo to the settings above.
Here the settings in my code
;Deck
Deck_PulseMin con 750
Deck_PulseMax con 2250
DeckTilt_PulseMin con 1500
DeckTilt_PulseMax con 2000I think that the variables above are responsible for the deck pulse wide. If not let me know.
Thanks
ExMachina
Really nice work!!! 
Give us more …
Hi all,
the new designed pan & tilt head is already finished and ready for testing.
Here are some pictures…
exmachina-robots.com/mediapool/81/814606/images/FILE0246.JPG
exmachina-robots.com/mediapool/81/814606/images/FILE0247.JPG
exmachina-robots.com/mediapool/81/814606/images/FILE0248.JPG
The main parts are build with the SES from Lynxmotion but the frontplate is a full customized aluminium part that fits the camera modul. My next working step is to integrate the camera in my code for ps2 controll. The tilt part is limited depending on the design off the head. Here a short video that shows the CH3-R MK II version off my hexapod with the new mounted pan & tilt head.
Regards
Matthias
Hi all,
finaly the work is done. I upgrade my stock CH3-R hexapod to the next version.
Upgrades
Servos:
Pan & Tilt head:
Power:
Leg Light System:
Here are some pictures from the robot, feedback is welcome.
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0304.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0296.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0285.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0299.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0289.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0292.JPG
it just gets better and better.
you have put alot of time into this project.
really liking the ideas here.
the new P&T looks great. keep up the good work.
J
Here some further pictures that show the robot in darker environment. The last picture show the telemetry system fit under the deck.
http://www.exmachina-robots.com/mediapool/81/814606/resources/13357292.JPG
http://www.exmachina-robots.com/mediapool/81/814606/resources/13357299.JPG
http://www.exmachina-robots.com/mediapool/81/814606/resources/13357594.JPG
Very very nice! I am jealous 
.
