I understand that you emplemented a cubic spline control of the legs using something called "IK" and a servopod. First, what is IK? Second, can you discuss your control algorithm a ittle. I'm curious about how you were able to send the spline trajectories to the motors with the appropriate timing.

Hi Luther,

FIrstly, I don't use servopod, that would be a lynxmotion thang.. I think? I sue my own controller called the p.Brain.

The IK (Inverse Kinematics) is used to calculate the leg angles given a foot position in X,Y,Z, coordinates.

The cubic splines are used to move the foot from its current location A to a new location B via a point C between A and B. By using a spline to move the foot, a smooth trajectory is created with an ease in and out of the move.

Matt.