I think the 6th DOF should be on tar, not coxa. If the 6th DOF is at coxa, the direction of the leg is limited in such way, that it must project outward from coxa joint. If you put the 6 DOF at tar, you can fancy the foot to be in any direction, at any x,y,z position!
i have ordered one kit. plus a few extra parts for modifications.
If i go for the full 6dof then i might adopt this idea:
http://i531.photobucket.com/albums/dd355/innerbreed/forrrn.jpg
but we will see. i like the original layout but more ideas will come.
also im thinking of adding some mini shocks from the Shank to Ankle joints.
Here is an idea for gait.
http://i531.photobucket.com/albums/dd355/innerbreed/thum.gif
If you’re going to just do two legs, then consider hitching them up to something like the simple quad chassis as I did in the “Creepy Hybrid”. The two back wheels are much cheaper then 6DOF legs! But you’ll be able to exercise two legs.
I’ve mentioned a complaint foot before. Certainly would reduce the bulk of the 'bot. Maybe you could use a really small R/C servo for the foot?
The Scout kit is cheaper then the parts?
Alan KM6VV
Good idea Alan! I did also think of your little Creeper when he mentioned that he would go for “only” one Scout.
For my Felix I did also consider using micro servo for the feet. But I’ve been thinking if there might be a chance for overloading the small servos if the the robot got overbalanced.
Hi Kåre,
And more fun! the Creepy Hybrid can really move! I’d call it a gallop, but that would require four legs. ;>)
I currently don’t have any micro servos, guess i should pick up a few. I suppose one could get away with a “tilt” servo in the foot, but some “roll” compliance would still be needed, I think.
Your new T-Hex is really taking shape! I’m still fixated on spiders, I guess. I almost replied on your thread that I’d like to see two “cabs”, a large one and a smaller one, to further remind the viewer of a spider!
Best regards,
Alan KM6VV
yes this might sound like a good way to get the gaits working correctly. im in trouble now as the more i look at the scout i want to build it as a scout. but bigger. O no!! 
anyway, i will wait till i get another 12 servos before i rip my hex apart. might be a while yet. very expensive for 12! i may just grab a load of low spec servos and have it suspended for tests.
iv been working on some ideas for this project and came when i was working on designs for the scout part.
here i ran a few ideas and here is what i came up with.
**
looking at Zentas Felix coxa design i needed something similar, so i built this as a start:**
http://i531.photobucket.com/albums/dd355/innerbreed/Quad2010full.jpg
i then thought it looked to close to felix, plus i didnt want the legs mirroring each other.
http://i531.photobucket.com/albums/dd355/innerbreed/Quad2010.jpg
**i then redesigned coxa so it didn’t look completely copied. **
http://i531.photobucket.com/albums/dd355/innerbreed/quadtop.jpghttp://i531.photobucket.com/albums/dd355/innerbreed/Quad.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/quad2.jpg
at the moment as im working on getting one half working (front) before i spend the money on the other half.
so far i have built the front and im working on the programming.
ill be only working with the 4DOF of the leg and then introduce the other servo for side to side sway once im happy.
My, what big feet you have!
Nice pix Jonny! Interesting use of the double servo bracket.
This design seems to be more mammalian. You might take a good look at “Big dog”. Probably a reason they make the legs mirror, but I don’t know what it is.
Alan KM6VV
Hobby King in Hong Kong has some cheapies at $7.95 each with 10kg output…
hobbycity.com/hobbycity/stor … g_/_.16sec
hi Alan.
Mammalian is the look im after. im happy you like it.
i have already shaved of 1lb of weight from the simple conversion for the front section. ill post a picture of this later.
I predict the total weight would be about 4.4lb
Putt Putt,
thanks for the link. if found that servos are what you pay for. as well as price im after performance too. bad press.
Here is a preview as i had my wife’s camera at hand.
This is the front section. and im still waiting for some offset brackets to replace some of the “C” brackets by the knee.
anyway…
Here you my not be able to see but i have tilted the original torso 90º and used it to mount the hip sway servos. this will make it easier to join the back and front together too. 
http://i531.photobucket.com/albums/dd355/innerbreed/100_1971.jpghttp://i531.photobucket.com/albums/dd355/innerbreed/100_1970.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_1972.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_1968.jpg
I will be removing the feet once the other half gets built. they are only on for testing purposes, while i work on gaits.
And obviously the electronics and battery will be move to the center once together.
Hey??? you said something that you could maybe sit on a stand and make move…I didn’t say they were top performers I said they were cheap.
But I do know what you mean about you get what you pay for , I’m using HS5645MG’s and in Canada they are not cheap at $59.95 USD each when you times that by 18 and then add the tax’s…well try and explain to the wife " but I really need them ".
i did say that didnt i! 
HS5645MG, my wife would kill me if i brought anymore servos. we wont tell her about the other 10 HS-645MG’s im looking to buy.
I like the pic’s of your bot and you do need strong servo’s for that configuration.
That’s a nice mech looking leg design. Kind of reminds me of that robo cop mech bot. I forgot the name of the bot.
it would look even more like 209 if i added this top section i built for my Stalker project:
Original design
http://i531.photobucket.com/albums/dd355/innerbreed/100_0698.jpg
Designed for the biped:
top ISO view:
http://i531.photobucket.com/albums/dd355/innerbreed/100_1990.jpg
bottom ISO view
http://i531.photobucket.com/albums/dd355/innerbreed/100_1994.jpg
side view
http://i531.photobucket.com/albums/dd355/innerbreed/100_1995.jpg
Looking good Johny, nice design. look forward to more of your pics.
OK CODE:
At the moment i have managed to get the legs to walk with variable speed using the JSticks i will need to remove the feet as i cannot manage to get them to remain flat to the floor at all times. i feel that i could simply add the other section of the robot and this think will walk.
i am confirming that this works. but i cannot afford the bits i need just yet.
im now working on getting the hip sway servos to work as it does for the original scout and once i have done this i will need to add the ankle rotate servos and im now going to try and the these to play a part in the loop so that it walks like the scout.
so i am just playing now and trying to build a scout code as mentioned previously. Turning in place and turning while walking works incredibly well.
i will bang up a video of what i have so far later tonight.
Cool Johny look forward to seeing it. Are u using 6 dof on this??. looks like 5 dof. hope its 6, but love what ever u put up. thanks for sharing.