another gait using the 180 delay phase.
looks faster but you can see its abit twitchy. i cannot walk sideways or backwards (due to bad COG) but forward loco is ok.
youtube.com/watch?v=LTyvHSI-g00
Crash & Burn…! Off set center of gravity!! 
i like this one. 
youtube.com/watch?v=LnEHTY2_xoo
Very interesting! good job! I mean it is walking… 
OOH! Nice roll! 'Hope no one got hurt! I’ll have to watch for that, I’m taller and not as wide. That could really roll good!
You’re making some headway, I see. Front leg seems to be getting bent, or is that the video? What servos are you using?
You know you could “center” the legs more forward-aft, rather then aligning with the angles of the servo horns on the body. I’d be curious to know that would affect walking. The chassis (body) would then have an aspect (length to width) greater then 1, which is what I think could be said of your layout now. this will create basically two narrow triangles of support, or so the theory goes. Might walk a little easier?
It might then be interesting (with perhaps a 2:1 aspect ratio) to “transition” between a rest 1:1 to a walking 1:2. OK, too much thinking. Does this sound like anything?
I’ve only got my “pulled” '475 servos from my swap out on my hexapod. I was thinking I might have to order bigger servos for some of the joints. And LiPo batteries, and BECs, and a charger…
I have a video camera now, so I’m wondering if the playback can be somehow slowed down for better study? Sounds like an video editor thingy.
Congrats!
Alan KM6VV
Bout time hay. i may try running soon, with a flip and jump.
one step at a time yeah!
No lucky for me nothing was damaged.
yes this is my fault for not lining it properly. the servos are HS-645’s!
Well saying this soon after these videos were shot i put the front legs onto were the “gripper” would be. resembles the MSR-H01 now but without middle legs. operates the same as i phoenix i’d guess.
i will try and get a vid of it like this tomorrow.
not so much scorpion anymore. i still have plans for tail and i have also made a bracket for a front head.
might be worth a thought.
yeah id change those 475’s. been there and shredded a few!
microsoft windows movie maker has a slowing down feature. my camera is saving in .MOV format and they dont work in the software. i need a converter!
thanks. ill upload some more “acrobatic” vids tomorrow.
Yeah, I thought I was going to get away with my spare HS-475’s, they did work for my early hexapod.
So you’ve changed to the for-most and aft-most pairs of legs, but are you still splaying the legs out to match? I’m talking about legs moving in basically the legs move in a for-aft (sagittal) plane. But that would be mammal, not a scorpion!
I think I get .MOV files from my camera as well. Too many new file formats!
Looking forward to your new vids! About all I might be able to do now on my new chassis is stand up!
Alan KM6VV
Ok well this is the set up:
**you can see i have moved the (what was) front legs, right to the front. ** Side cannons anyone!
http://i531.photobucket.com/albums/dd355/innerbreed/100_1475.jpg
i managed to shoot a vid of the body IK (thanks Zenta) and also added a few cheeky steps.
Its getting there.
the rear right leg is dragging a bit but i hope to sort this soon.
very cool. wish i had a cutting machine!!
So do i…
Unfortunatly i didnt cut them, nor have the means too. 
i will be cutting my own chassis as some point but not just yet! 8)
Wait, I thought you were going to have pincers in the front? Might as well put legs in the middle instead of side cannons. Cannons are almost always forward facing.
I like the original idea of the 4 legs, pincer and tail. Did you change your mind on that?
just working on gait and getting it up and running. just testing at this stage. 
I saw the IK video and it works nicely. Will the IK work if the legs are mounted back where they were?
yes, with the obvious changes to the code. with the legs mounted back i need to move the battery further back to balance out the COG.
i wish to do further testing with gait and way to improve on it using transformations of the body IK. (not yet added)
once i have added a tail etc (waiting for servos to arrive) i will have a play about and see what happeneds.
I for one am glad to see you making progress. The problems you were having before were “difficult” to troubleshoot. I’m glad you are having fun again! 8)
Hi,
Great progress on this project!
It seems like a better solution to place the leg on the 4 outher corners. Great video too! Seems like the gait just gets better and better.
Keep em’ comming
i will be running two quad gaits:
Primary gait: Wave gait (one leg up at a time) Slower
** Secondry gait: *Ripple *gait 180 degree phase between steps) Faster
It is important for walking robots such as quadruped robots to have an efficient gait.
The gait which consumes the least energy is considered to be the best gait.** (Primary)**
The** primary gait** is a fixed sequence of leg transfers with modified leg-end kinematic limits according to the obstacle presence,
while the secondary gait is a flexible gait which is generated to adjust the leg-end position.
The primary gait is generated considenng the following four constraints:
**stability constraint,
kinematic constraint,
sequential constraint
and neighboring constraints. **
Normally, walking machines tends to move with the primary gait. When the primary gait cannot move the vehicle, or its intended to move faster, the secondary gait is adopted to serve as a complement of the primary gait.
With the proposed primary/secondary gait, it is expected to improve the efficiency of free gait generation while maintaining the mobility.
While the secondary gait is faster, its not as smooth in turning as primary gait.
The two gait i will be adopting will be shown in the next video. i hope.
Oh yeah!
KÃ¥re’s got the walk!
Alan KM6VV
