This question was sent to me by Murali on the Lynxmotion website, so I have coppied it here:

Hey Matt:

Firstly thats some amazing work you have done so far . Really impressed with the depth of both your software and hardware. I was looking at the paper hero.pdf from your website on balance gesturing and stuff. I had a couple of quick questions. I dont have any email address of yours so here goes (mine is muralidar@gmail.com). Whats your email address?. Do you use AIM/ MSN / Yahoo?.

Questions.

1. I looked around for this info but couldnt find it. Do you have a custom servo controller & feedback for forces etc?. Or are you using openservo?.

2. I read through that paper up and down and cant decide if the whole thing should be one monolithic program or threaded tasks. Do you maintain the slow retraction of all legs (other than the one thats stepping) in one task (doing the balance algo's on each pass) or Do you have seperate threads that interupt the main process?.

Thanks and Regards,
Murali

Thanks for the complements Murali.

Question 1)

I only use ground contact sensors on the V4 hexapod with terrain adaptation. No forces are nexessary.

Question 2)

The paper is written with the idea that each leg has its own controller, however, I decided to run my engine on one controller in one monolithic program.

Hope this helps,

Matt.