I am trying to modify Ferret's Quad Torque spreadsheet to work with hex and octopods. The first problem I am running into when calculating N1 & N2. The numbers I am getting don't look right to me and I am not sure where my mistake is. If I understand the forces/math involved, for a hex N1=2*N2 and an octo should be N1=N2 since you have the same number of legs in contact with the ground on each side.

I am hoping those of you with more experience can help me figure it out.

Legged Robot Torques.zip