Pretty good! I like the way your legs work.
Nice to see it walking.
Alan KM6VV
They have a high pitch sound but not that loud as i’ve expected and it’s only while standing still.
The servos are gratifying quiet.
(Pst: I can make movement tests while my girlfriend is sleeping in the same room. g )
I have still a problem with the IK:
If the endpoint of a leg is under the body the math of the ik fail and give me back NAN as angle for the femur and the tibia servo.
I can see where that would be a problem. I’m still trying to get my head around the proper way to calculate for my 4DOF 'quad legs. I’m going to try to start out more “insect” like, but with fully upright (mammalian) legs, I suspect I’ll run into the same problem.
Alan KM6VV
I think I understand your problem. I have a similar problem for phoenix too. I believe its the definition of the coxa angle that causes the problem. You probably have to make some kind of algoritm to calculate the coxa angle ones the tars (foot) are under the body. This is just a trouble for the horisontal rotating coxa. Ex. for Felix this was no trouble at all since the IK was defined by the hip servo.
But do you really need to place the tars under the body on a hexapod? So far I’ve not found this to be a big trouble. But I do get your point, it would sure be great to solve it. Especially for long crab gait or special moves (extreme translations). Maybe a future project to work on though…
I love your hexapod design. i have been looking for a design to build on and i was wondering if i could use yours if so do you have a copy of the prints i can use
Do you have Catia?
not yet but will soon
Very nice work! It’s a really beautiful hexapod!
Congrats. The video was great!
Time for an update 
(click on the images for larger version)
forums.trossenrobotics.com/gallery/files/3/1/3/9/p1280004_thumb.jpg
It has now a name: Mendel
I’ve completly re wired the Servos and mounted a RoBoard and a SRF08 ultra sonic sensor.
The RoBoard runs on Fedora 11 without a grafik card (Fedora 12 doesn’t work. It’s compiled for i586 and the RoBaord is an i486 chip).
forums.trossenrobotics.com/gallery/files/3/1/3/9/p1280009_thumb.jpg forums.trossenrobotics.com/gallery/files/3/1/3/9/p1280010_thumb.jpg
In the beginning I wanted to reprogram the SSC to use the I2C bus with the ultra sonic sensor but there isn’t enough CPU time left for that.
After a few tests I’ve realised, that I can’t use the mesurements of an ultra sonic sensor as a spezified point. It is much more the part of a circle.
forums.trossenrobotics.com/gallery/files/3/1/3/9/ik3_thumb.jpg
(controll programm with SRF08)
Apart from programming I currently waiting for the delivery of a MatchPort b/g and the self-designed breakout board, so I can get rid of the network cable.
forums.trossenrobotics.com/gallery/files/3/1/3/9/matchport_breakout_thumb.jpg
(Breakout for MatchPort)
Also, I currently working on an AHRS for the heading controll.