The aim is to build a robot to study walking/running. Currently the robot can accept a velocity (in vector form) and walk in that direction. Here is a video of it walking: http://mattroberts.org/video/quad6.ogg

A secondary aim is to allow the robot to walk over rough ground, this video shows the current state of that code… slow but working… http://mattroberts.org/video/quad7.ogg

The code within the robot works out where each leg should be in Cartesian coordinates and then converts those into servo angles – this allows very simple modification of things like the width of the robot stance and so on.

The next step is to get the robot controlled by a wireless remote control, which is my second project.