Perhaps you could provide a link so we could actually see what you are trying to do. The forum allows you to link to an off site image. Like this…
Or you can add an image as an attachment.
I think I got it now. This time instead of trying to save the entire wikipedia article I saved only the picture. And yes I know the robot in the picture isn’t a qudrapod, but this kind of what I was thinking of. With a couple more joints it could walk as well. It isn’t as impressive as the first youtube video Innerbreed posted, but it might be a little bit less complicated.
Definately an interesting idea having tracks, although I think a wheel would be simpler and offer more flexibility if done right.
What I’m imagining is a sort of robotic hand that is a cross between the front of Zenta’s A-Pod and the wheel configuration of the NASA ATHELETE. The robot would walk with its gripper closed like a normal quad and then use its grippers to pick things up, shifting its COG accordingly. When it wants to move whilst carrying something it simply opens the grippers on its other legs (tucking them out the way) and drives away on the newly accessable wheels.
If done right this would allow the robot to maintain its existing COG shift which none of the robots innerbreed linked me to seemed to be capable of. They all had to move their legs in some degree to make the wheels face in the direction they wanted to go. At the moment I am trying to figure out how grippers and a wheel could be combined easily. Below is a quick sketch of my current design idea (note that the gripper servos and wheel motor are missing).
I’ve been going though many different designs and this is the most eligant (old ones had extra micro servos moving the wheel from a hidden position in the arm), so I’d be keep to hear your views on this unusual configuration
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Edit: Depending on your monitor size and resolution this may actually look to scale. I was thinking of using the new aluminium wheels that have been developed, so use them as a point of comparison.
Thats one big hexapod. Didn’t Tom_Chang79 say something about wanting one big enough to sit on in an earlier topic. 
Anyways though I get your idea a lot more now. Where exactly will the servos that control the feet be. I’m supposing the will be on that C-Bracket.
I’m thinking that the motor to drive the wheel will be on one side (connecting through the C-Bracket), and on the other side an AHC-01 could be used to mount two micro servo brackets. This part of the design I’m a bit fuzzy on to be honest, expecially as I would like both gripper servos to run off the same signal (so one either has to be mounted the other side or have its internal wiring reversed).
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Right now, with my robot WALTER, I am working towards an independently steered 4WD self leveling configuration on an octagonal chassis. Each wheel strut would be a 2DOF design (no horizontal movement) with a 3rd servo to steer the wheel. I really want to go to a full 3DOF design though, which would make WALTER a full hybrid robot with walking and rolling modes. The 3DOF design would cost more to build, but certainly would be much more interesting and fun to program and work with.
I’ll have all the parts to assemble the brackets for the 4WD 2DOF design next month, and do have enough brackets now to add to that and assemble the full 3DOF version.
I’m even considering a 3WD 2DOF or 3DOF configuration as this would be real interesting also. Picture an octagon oriented with one point to the front and two struts/legs on points each side of the front center point. The third strut/leg would be positioned at the rear center point. I really love the octagonal chassis design because it offers so many possibilities for different configurations.
In any case, I’ll be going with at least HS-645 servos all the way.
8-Dale
I still remember when she unveiled her tripod’s first few steps. What a site to see. It inspired me that there CAN be a scenario where a hexapod CAN walk when three of its legs are blown off (perhaps in battle or bitten off by a stray dog)…
That gave me an idea!
What if someone made a hexapod that could sense whether it had damaged of immobalized servos and would use whatever it had left to walk. Lets say it lost a femur servo not a whole leg but one servo in a leg. It would then compensate for its lost servo by using a gate specially made for having that servo damaged and would try to continue walking. Has anyone tried this before?
I know a lot of universities are looking into having robots adapt to damage. One I remember is this starfish, which learns to move regardless of how its legs are set up, including any damage to said legs. youtube.com/watch?v=rkGaQqkyWII
If someone was willing to give me a grant I’d be willing to give this a go 
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Thats exactly what I mean. Something that will do everything it can to get from point a to point b.
Sorry, not me. 