After my hiatus from competing in 2012 I have started a new mech to dominate in 2013!
OKQ1 (Off-Kilter Quad One) will be an MX servo based quad with four degree of freedom legs.
Between the end of MW 2012 and now I have been experimenting and perfecting new IK calculations, gait algorithms and control ideas.
Pictured below you can see my prototype chassis using AX-12 servos. I have not yet settled on a final leg configuration. Currently I am borrowing heavily from Zenta's T-Hex hexapod configuration.
In this first video you can see me testing my 4DOF IK calculations with a single leg. The foot is being moved in a circular motion. You can see that the final leg joint is always kept perpendicular to the ground.
In this second video you can see my first test of the new gait algorithm working smoothly and accurately.
As always my work is open and freely available. Take a look at my github account.