Thought I would post a few details about my new quadruped, SMALdog (Sorta Maybe Almost Littledog). (I was originally calling him "Littler Dog" for lack of a better name). He's a bioloid robot inspired by Boston Dynamic's Little Dog. I started assembling on yesterday, and was able to find enough time last night to get the IK worked out, and today got a default gait going pretty decently.
SMALdog is using 12 AX-12 servos, a variety of bioloid brackets, SES tubes for the lower legs, and a simple sheet metal frame to tie everything together. His ArbotiX robocontroller is doing a full IK solution for each leg.
Here's a quick video of the default gait:
The default gait I've got right now is just a simple ripple gait, but he's already doing almost 20cm/s in a straight line, and 30 degrees/second turning in place -- better than Issy's highly-tuned gait performed at CNRG. (Needless to say, this bot may very well replace Issy as my fire fighter, he's smaller too, only 8" long).
Now onto the fun part - developing a geometrically stable non-periodic gait engine to maximize his speed. Future plans for this bot also include adding an IMU for stabilization, springs in the tibias, and adding sensory to the legs (my eventual goal is to be able to actually run with this bot...).