I have just been looking through the pictures of your robots and saw the quad walker...Did you have much success with the 4 legged design? I was considering building either a 4/6 legged robot for myself once I have finished my current hex walker project for my dissertation.

Hi ALex,

I built the Quad some time ago, I use the word built loosely, as In fact I just chopped the back off of my V2 hexapod! I did get he quad walking, but had to change the gait significantly to shift the quad's balence before lifting a leg.

Matt.

May I know how do you deal with the weigh shift?

I'm having trouble shifting the CG of my quad to enable it to walk smoothly. It slightly topples whenever the 2 front legs are lifted (individually).

Cheers

Hi,

I beleive before I lifted any leg, I would fool the quad in to thinking it was a tripod, and the balence gesture algorithm would pull the CG back towards the three supporting legs. I would then take a larger step forward with the protracting leg to counter this body shift. However, I can't remember how successfull it was, and unfortunately I didn't take any video footage.

M@