Tail? what about a stinger? I think that would be WAY cooler! 8)
Brandon C.
Oh! How could you?!? 
Well this is what i have in mind.
Tail with a sting!
http://i531.photobucket.com/albums/dd355/innerbreed/100_1429.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_1428.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_1427.jpg
*
using one of the spare tibia’s i have managed to use it along side the Multi-Purpose Servo Bracket (ASB-04B).*
http://i531.photobucket.com/albums/dd355/innerbreed/100_1425.jpg
*
i have sorted the Coxa problem by changing the orientation. Now they dont hit the standoffs as well as the boards.* 8)
http://i531.photobucket.com/albums/dd355/innerbreed/100_1426.jpg
Very neat! did you have to make any modifications to the chassis to mount the electronics on there?
BTW, nice cat! 
no mods to the chassis. although iv had to use different standoffs than the ones that came with the kit. the SES is too big for the ones supplied.
thanks
Wow… Been a while since I last visited this forum. Though you have move on from Stalker, nice to see that you are still working on quadruped. 
I might want to try the Stalker design on my quad, is that ok with you?
Hi again.
hope you are well.
yes by all means please do.
it would be great to see what others come up with.
jim has already mentioned to me that he may use the design for a Lynxmotion (stalker based) Quad.
its great that so many people like (d) it. i is a shame that i have stopped the project but if you need any info please ask.
maybe sometime in the future i may start it up again, or something similar
just to see what comes of it.
anyway some new photos…
Not much has change but photos show more detail.
will be tidying up wires etc when i get time.
http://i531.photobucket.com/albums/dd355/innerbreed/100_1444.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_1445.jpg
here you can see the 9v battery housing that slips inside the body for easier access.
http://i531.photobucket.com/albums/dd355/innerbreed/100_1439.jpg
power switch:
http://i531.photobucket.com/albums/dd355/innerbreed/100_1443.jpg
there is still loads of room for batterys inside the body.
it weighs in at 3lb 8oz so far with batterys. need to finalise tail and gripper designs.
i will also be changing the Femur parts to this:
using the old femur i have marked out an a hole pattern, drilled them out, sanded it down, and then sprayed it chrome effect paint.
http://i531.photobucket.com/albums/dd355/innerbreed/100_1448.jpg
Jonny,
Nice 'bot! I like the 9V battery holder, I don’t believe I’ve seen one like that before. Where did you find it?
It’s really a shame that you aren’t going to finish the Stalker first, as has been observed by others as well. I suspect the “walking” will be a very similar problem to solve. Swinging the body might help; like in the video you posted a link to earlier.
Are you moving away from LM parts? The parts you are offering look like the demise of your Stalker!
Alan KM6VV
i would like to clear up that i am not quitting, leaving, or anything to that effect. Lynxmotion and robotics are and always will be a main interest of mine.
i have always wanted to build my OWN robot with designed parts etc.
what i have 'and still are learning from LM and robotics as a whole, is that patiance is key. i will be selling off “STALKER PARTS” (even the tibias if interested) to fund other projects. trust me when i say 'thats not all the SES i have.
Im just trying different things you could say.
Battery holder can be found on same site as chassis.
Sorry, didn’t mean to imply that you were quitting!
Alan KM6VV
Looks great. I like the added holes and that chrome paint looks fantastic. Have you thought about polishing the aluminum pieces vs. painting them? Either way it looks really good.
yeah the holes will also help with weight. they havent really effected the load, and they seem to be just as strong.
i have thought about polished aluminum but iv used what i had at hand. its given a nice finish as you say,
but one advantage polishing them rather than spraying is that the polished ones wouldnt scratch as easly.
OK… im really close with the gait programming.
iv not yet added the X transformation shift but i can make simple on the spot turns
and also forward, back, left & right locomotion. looks a bit drunk due to
the COG being off.
hopefully get a vid next week. 8)
Hi Jonny,
Glad to hear of your progress! Look forward to seeing the videos.
the splayed legs really do add a lot to the look of these 'bots!
While mounting the legs on my latest chassis, I opted to set the neutral (1500) servo position between the two extremes of motion of the shoulder rotate joint, and that comes out to be at an angle, much like the angles seen on my and other chassis.
You’re saying you’ve got your 'bot to walk with the sine gait? Great!
Do you have a “bent knee” in your legs? My 'bot is quite tall and “spindly” with the legs straight up. I’m thinking maybe a little bend at the knees would be appropriate; what do you think?
Alan Marconett
Yeah bend those knees, i find that with higher body (or longer legs)
that you need more Xaxis body shift transformation.
[code];Walking TransitionX table:
'-10=118 10=138 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14
TransitionX bytetable 128,118,118,118,138,138,138,138,138,138,138,118,118,118,118
BodyPosX = (TransitionX(GaitStep))-128[/code]
Especially when using the “Sprawled insect” configuration.
i will implimant this soon to confirm these thoughts the gait i am using
is the original 18 step ripple from the phoenix but without the middle legs.
[code]GaitSelect
;Gait selector
IF (GaitType = 0) THEN ;18 step wave gait for a quad
LRGaitLegNr = 10
RFGaitLegNr = 14
RRGaitLegNr = 1
LFGaitLegNr = 5
NrLiftedPos = 2
TLDivFactor = 16
StepsInGait = 18
NomGaitSpeed = 100
sound P9,[200\1000]
ENDIF
return
IF (GaitType = 1) THEN ;quad Gait 18 steps
LRGaitLegNr = 10
RFGaitLegNr = 14
RRGaitLegNr = 1
LFGaitLegNr = 5
sound P9,[250\30000]
NrLiftedPos = 2
HalfLiftHeigth = TRUE
TLDivFactor = 16
StepsInGait = 18
NomGaitSpeed = 100
ENDIF[/code]
i still have the middle legs in the code (not this part) as they give it a better
time delay between steps and it allows for more forward body
movement while walking.
so keep that body low and also keep it moving forward.
you may have noticed that when quadrupeds run thaey change gait
once they start to slow down. “first and secondry gaits”.
in robotics im not sure if this can be done!?!?
Also making the Legs reach durning each step, rather than using
wide or high movements helps.
I guess I still don’t know the significance of the TransitionX tables.
Are you lifting more then one leg at a time? You said you are still using 6 legs for the extra timing. Oh, I get it, a ripple gait would be lifting one leg at a time anyway. Maybe I can try something sooner then I thought!
I do want to try LR LF RR RF sequence for the gait. I have a program written by one of my friends on the Seattle Robotics list, I’ll figure out who it was (Peter?) and find a URL for it. Very useful for studying the sequence of the legs, and the resultant support triangle.
Yes, I have observed the “reach” of a crawl gait. And I’m wanting to get a little lower in the posture of my 'bot. it Would be a snap to convert back to 3DOF for initial work.
Your two gaits look the same!
Can’t Xan’s code be modified to just move 4 legs? I’m debating where to start! I could also use the “pass-through” code I was brought up on another thread.
Alan KM6VV
The Xtable allows the body to shift left and right while walking putting the COG towards the middle of the triangle.
the two gait are pretty much the same, yes. ** EDIT: my fault not looking at what i
was posting i ment to copy one of them plus the quad one lower down this post.**
here is the one for quad:
[code] IF (GaitType = 0) THEN ;12 step wave gait for a quad
LRGaitLegNr = 8 ;Init position of the leg
RFGaitLegNr = 11
RRGaitLegNr = 2
LFGaitLegNr = 5
NrLiftedPos = 2 ;Number of positions that a single leg is lifted (1-3)
HalfLiftHeigth = NEGITIVE ;flighted legs will be half height
TLDivFactor = 10 ;Number of steps that a leg is on the floor while walking
StepsInGait = 12 ;Number of steps in gait
TitularGSpeed = 100 ;Supposed speed of the gait
sound P9,[100\2000]
ENDIF ;by Zenta
return [/code]
It works almost the same as the others but i find it a bit jerky!
The others have a better time delay between steps and it allows
for more forward body movement while walking.
OK, yes, we can use that!
I’ll probably understand it better when I get it running my 'bot.
Alan KM6VV
ok i took this last night just as i reference for my self but I guess there is no harm in sharing.
the gait used is directly from the phoenix:
[code] IF (GaitType = 0) THEN ;18 step wave gait for a quad
LRGaitLegNr = 10
RFGaitLegNr = 14
RRGaitLegNr = 1
LFGaitLegNr = 5
NrLiftedPos = 2
TLDivFactor = 16
StepsInGait = 18
NomGaitSpeed = 100
sound P9,[200\1000]
ENDIF
return [/code]
this kind closes the question i put to myself last year that a hexapod ripple gait can be transformed into quad locomotion by simply taking out the middle legs.
it kinda works but doesnt look impressive.
bare in mind this isnt running the Xtable Transformations nor does it have any COG shift of any form. this is directly from the hex code!!
You can clearly see the COG is way off. this will be sorted by the Xtable once coded!
the gait i will be using isnt this one as im working on a better one but its just to show it can be done, even if poor!!!
Yeah, looks like you’ve got it walking a little!
Hard to follow the leg moves. Any way to slow down a video playback (camera)? That might help me.
Alan KM6VV