Some of my goals for 2016 were to learn how to code and gain some proficiency in electronics and CAD. I always need a challenging project to get motivated so I decided on a hexapod - writing the control software and designing all the required physical parts felt like a good learning opportunity.
The code is written Python and loosely based on member TXBDan's code for his hexapod Beth (https://github.com/TXBDan/BETH_Raspi). In the course of getting things up and running I made substantial changes to how the code works but as a basis for understanding Dan's work was crucial. As of now I am using real time inverse kinematics at 60 (or 120 hz) with limited to a hexapod gait. It can strafe and rotate any direction, and combine these motions. The step time is fixed and velocity is controlled by relative step length. Control is via a PS3 controller over bluetooth.
I'm using a mix of AX12+ and AX12A's I bought used from various sources and a USB2AX. The legs, body and Pi housing are made from laser cut acrylic and were designed in Fusion 360.
A video of it in action: https://youtu.be/_YbJ1N4wZq8
This forum has been a huge source of inspiration and knowledge for me, thanks!