ok thanks zenta, i will disable this feature.
yeah, once i get more programming done with “not much risk of falling over” i will get some smaller feet ones cut.
iv got it side stepping now. 
next i will open up the commands for the HipRotate servos (coxa) and start work on that. (rotate in place)
**EDIT: batterys have died!!! 
**
Ok i just managed to run a few of the gaits, testing them on Forward locomotion, Side stepping and Rotating in place.
the test was done on low fibrous carpet and pushed at half speed.
(0- bad 5- great)
i531.photobucket.com/albums/dd355/innerbreed/gaittest.jpg
taking the two best results Ripple gait and Trot Gait as a start to the primary and secondary gaits ill use.
surprisingly 'the Trot works very well and fast when turning in place and side stepping. 
Quadripple also performed well and better than expected.
i will run another test some time this week on my tiles to see how the results differ.
once i have both tests done i may make another recording of it so you can then decide.
im now going to work on getting the selected gaits to work together by “auto switching” when moving from forward loco to turning etc.
i know this can be done if only one directional command is given at one time but together it might not work. i suppose a thresh hold ie, TravelDeadZone reaches a limit then the gait could switch. but not blend!
any ideas on “auto switching”?
Hey Johnny,
Boy I am sure impressed with what you have done! Very good job!
The only advice I can give you is to put some small adhesive backed felt pads on the four corners of the feet. It will add a little traction, but it will quiet the feet down quite a lot on tile floors.
i will just do that, i have some laying about.
yeah that clanking sound doesn’t do any justice when making a video…
that’s on of the reasons i tested the gaits on carpet first. i just got my boys to sleep too and didn’t fancy waking them.
…Ooh i might just have another little play… where did i leave that PS2 remote.? 
I almost missed that latest video. I does look like the Star Wars walker. Very well done.
So have you resolved which gaits to use? Do you propose shifting from one gait to another? Somehow find a “synchronous” point between two gaits, and make your transition there?
Excellent progress!
Alan KM6VV
yes this is exactly what i will be trying to do. it don’t actually think it will be that hard at all. once i get time to run it though ill get a better idea on how to work it and even improve on it.
here is a small video of it turning. Crudely! Im using three gaits here,
(LR-RF-RR-LF) Wave 24 steps
(LR-RF-RR-LF) Quadripple 9 steps
(LR-RF)(RR-LF) Trot 4 steps
Trot is used best for turning while the others work better for walking forward. i have mixed it all together here. sometimes iv used the other gaits to turn with.
i have also removed the two back hip rotate servos and the front hip rotate servos are not given commands. i will be removing these too at some point.
Note to self… buy a new camera.
Awesome! That looks really nice! 8)
the gaits could be improved a bit i think. any chance of a “customer submitted projects page”?
Can’t you just submit it under projects? Does look good!
Or maybe you mean:
lynxmotion.com/ViewPage.aspx?ContentCode=projects&CategoryID=20
Alan KM6VV
Normally I would just say, send Beth the info and she will create the project. However being just weeks away from the new website changeover… Beth would KILL me! 
LOL.
i will gather the information and anything id like to add and wait till everything has settled. thanks jim.
Crude? It doesn’t look that bad to me. It seems to have a little more spring in its step kind of like ummmmmm a wolf.
thanks. there is always room for improvement.
as im not using the coxa servos its made this a 4x4 robot. i will need to design a nicer way for the legs to attach to the body. 
i have just started working on perfecting the gait. but wait for it… im not quite sure what i did, but it works. i have removed those big platform feet and just by walking on the back of the C bracket i have got it to work fine.
using the same gaits as previously show, it works great. i have lifted each leg up a slight bit when walking and they are now more stable and precise than before. 
still not using body shifting or any other balancing motions.
i am adding the code here for others to look at.
please explore, improve, or give feedback.
you will notice i have used manual input Servo Offsets
ONLY USE THESE IF NOT USING REGISTERS, otherwise 'comment out.
iron wolf v1.0-2010.bas (43.5 KB)
Jonny,
Thanks for publishing your code. I’m going to sit down and see if I can apply it to my quad. I suspect it might be too different a leg arrangement, 'tho.
And this code is for your 3/11/10 Iron Wolf? I’d like to see some good pix of the leg. I think I’ve seen all on this thread, maybe not!
Again, good work!
Alan KM6VV
P.S. Can we put a BlackFin camera on top of that?
start date: 18-2-2010
It is the current code and the one iv used in the last video.
i will get some close up this weekend for you.
configuring it for your quad would be very easy.
that would be cool.
here is how i am configuring the legs since i have removed the “coxa” servos.
