Mixing Leg Types

Lynxmotion Legged Robots
1

Has anyone tried mixing leg types, ie. CH3-R and the standard pod-style?
I ask because I’m considering using a CH3-R with the cool curved legs, with two of the legs the pod-type. The idea being to use the 4 curved legs for standing (after locomotion) and having the other 2 legs for pedipalp manipulation a la real spiders. The round pod legs can use pressure or contact sensors while the other 4 support the bot.
The only other possibility is to add 2 (extra-lightweight) legs/arms, which would probably affect the weight and balance adversely.
I notice the CH3-R and ‘standard’ hexapods have slightly different max ground clearances listed.

A related side-note: anyone have plans or experience making/using mini-legs or arms?

2

Currently PowerPod can’t deal with different Tibia lengths on the same bot. Xan’s Phoenix code is supposed to be able to do it though.

The different max ground clearance specs are because the different kits have different tibia lengths. The rest of the assemblies are pretty must the same.