Sixaxis Controlled Hexapod

( Please see new video for current status: tinyurl.com/new... )
Website: www.12centdwarf...
Twitter: / blegas78
Hexapod robot using Robotis AX-12, RX-10, and RX-28 servo motors. The controller is a Fit-PC2 computer running Ubuntu 9.04. The Fit-PC2 has an Intel Atom z530 1.6GHz processor. A custom PIC18F4550 based USB interface board was built to pipe motor control protocol.
The gray plastic was designed in Solidworks, and was created using a Dimension BST 1200es 3D printer.
Inverse kinematics is used with a dynamic walking gait. The dynamics still need work to be smoother and faster. The legs are not calibrated perfectly either, which can be seen when a foot occasionally lifts up.
Currently the robot has foot contact sensors which will be used in the future for terrain adaptation. Three AX-12 motors will be used to control a camera with 3DOF.