Here is my third pass at the user modified 4dof PhantomX. I've increased the compliance slope of the servos to smooth out the remaining jitter due to the speed of the AX-18s. Tibia is reworked so there is less weight on that segment, Femur has the most weight now. Tweaks to the default angles of the legs as well. This version is much slower so I can see the tweak to the compliance slope.
Software I started with:
Phoenix code written by Jeroen Janssen and ported to C by Kurt Eckhardt. Modified by Kurt Eckhardt and Kåre Halvorsen. http://www.lynxmotion.net/index.php
