Small omnidirectional hexapod

An early attempt to design and build an omnidirectional pygmy hexapod robot using small Futaba servos and skinny legs. The robot was designed in response to a demand for smaller desk-top sized robots for students and mult-agent research. It was decided to abandon the design because standard sixe servos are cheaper, more reliable and easier to maintain

Octapod, circular design

This clip shows the leg tip following circular and walking motion locii based on a cylindrical coordinate frame. Three complex inverse kinematics equations are being solved in real-time (every 20msec) for the 3 angular displacement servomechanisms. Just one Basic Stamp2SX microcomputer solves these equations with only 2kbytes of memory and uses only 16-bit integers, no trigonmetrical functions; instead only truncated Taylor series are used.