H-P1 Hexapod Robot

This is a video of my Hexapod. The body was made from rigid PVC foamboard, inspired by PhantomX. There are 18 Dynamixel AX12 actuators. These are controlled by a Dagu Redback Arduino Mega controller.

The code is based around the Phoenix 2.0 source code originally written by Xan and ported to Arduino by KurtE (http://www.lynxmotion.net/viewtopic.php?f=20&t=6730).

I've also hooked up a wireless PS2 controller for input.