so good he’s posted it twice. 
looks good. yeah be great to see it on a chassis.
Hi,
Great work on “Frank’s robot” inspired SES leg! This design sure has its con and pro’s, but what I like most is the slim insect like legs and the tibia joint can be safely submerged under water 
A circular or an extra long and slim inline body (maybe using the SES tubes?) would be the best choice.
You always come up with so many great ideas! Thanks for posting them too!
Doh! Working on it… 
Wow, that was truly awesome Jim!
Innerbreed deserve the credit though
i agree totally. we could always use something like this.
http://www.lynxmotion.com/images/assembly/alum/wlkstk/wlkstk00.jpghttp://www.lynxmotion.com/images/assembly/alum/wlkstk/wlkstk08.jpg
And who are going to be the first to post a video of a fully IK controlled leg? 
Exactly! That would be awesome. Come on Jim, you got the parts to do it!
Actually, we don’t. Sold them all, we did.
Absolutely! I just wanted to build it with the HUB-09 and ASB-19 in the knee. Johnny can built up the bot. I know I will not be able to do that for quite a while.
lol.
james and beth, quick hide those shipments of SES. lol.
come on jim. only 5 legs to go. you know you want too… 8)
April fools!
WOW i only started this thread 2.20hours ago! page 3 already!
Thats a good indication that you’ve posted a great idea! I’m looking forward to see a SES based hex version using these leg one time.
i could build the SES round chassis as above and the other 5 legs for about £350. not including servos or bits i have already…
ok who’s going to tell the wife. lol.
it might be a while for me to build this, iv just paid for and built IRON WOLF. 
Just a quick note that I did verify the legs will easily fit in the HBK and HBKR chassis without issue. I believe there is no problem with IK as there has been no non-linear translations. There are some positions that must be avoided due to the pushrod configuration of the knee servo. To make it more difficult the knee angle will have different angular limits depending on the angle of the hip.
yes i have been testing it today using phoenix1.3 code. in servo driver the knee servos have had to be reversed due to the servo being switched round. (for the right legs)
The ik is as normal as you say. also i did notice the limitations on the knee/rods, but finding its limit wouldn’t be a problem.
iv been starting with low min/max values in till i can get to the right figure to use.
im so eager to build this thing now but i just don’t have the bits. if you get time then please build it up. id love to see it walking.
great news on the chassis. can we see it?
Sounds good. No promises on the build right now, but I will keep it in mind. I don’t really have anything to show. I just did some visual inspections with the body, and the leg still like it was last photographed.
ok well i will do some more testing and ill post the results here.
would be cool to add this idea to the SES line once we have found the right configurations etc?
regards,
A short link to a short test i just done with the new leg design.
I have removed the tibia section as i will be replacing this with another part once it arrives.
it will make the tibia to 107mm long. it will still look like the thin original design.
sorry for the poor video. + yes its screwed to the wall! 8)
here are some insights into the dimensions direct from the code.
CoxaLength con 32 ;Length of the Coxa [mm]
FemurLength con 80 ;Length of the Femur [mm]
TibiaLength con 107 ;Lenght of the Tibia [mm]