yes this plays many factors, but i do believe one could get the servos to slow there rotation once foot makes contact with the ground allowing for smoother landing. in theory.
Wow Jonny,
You’ve been pretty busy lateley! Especially for a guy who isn’t really “handy” at the moment. 
LOL
I didn’t read trough the whole post but I like the “cat” style quad setup. Are you using the phoenix code as base? Are you shifting the body (COG)?
Keep up the good work!!
Xan
hi xan, i wondered how long it would be before you found it.
yes its running on v1.3. iv posted the code on page 7
download/file.php?id=642
yes after the stalker quadruped robot i was determined to get a quad walking. and finally i did. im not using any body shift. its purely done by a well calculated gait.
and of course 'a well executed code thanks to you.
i am waiting to get a better camera before i do a final video.
i have made a few improvements and zenta has helped with some of this.
anyway thanks xan,
J
Very nice!!! I love the quick turning and wolfl like stepping! 
Those red led “eyes” give it an even more wolf like appearance.
8-Dale
thanks linixguy,
glad you like it. yeah it does turn quite smooth. im still improving the gait every now and then between projects. im happy with what has been achieved so far but it would have been cool to keep it at 5dof and actually use them as first intended. 8)
LOL, yeah it took me some time
It whould be a cool thing to try shifting the COG to the opposite side of the leg you want to lift. I think this should make it easier to walk on smaller feet. Just trowing ideas! Again, great work!
Xan
yes this was the first idea… i started a thread on it as i began to run into a few problems.
Topic: Using ByteTable to shift the COG.
viewtopic.php?f=8&t=6065
innerbreed. Can you have 3DOF/ leg basic for Iron Wolf ? I need it ^ ^ Can i change 5DOF from your code to 3DOF ? It Work ? thank you so so much