After my hiatus from competing in 2012 I have started a new mech to dominate in 2013!

OKQ1 (Off-Kilter Quad One) will be an MX servo based quad with four degree of freedom legs.

Between the end of MW 2012 and now I have been experimenting and perfecting new IK calculations, gait algorithms and control ideas.

In this first video you can see me testing my 4DOF IK calculations with a single leg. The foot is being moved in a circular motion. You can see that the final leg joint is always kept perpendicular to the ground.

http://www.youtube.com/watch?v=He6WeLmsaYc

In this second video you can see my first test of the new gait algorithm working smoothly and accurately.

http://www.youtube.com/watch?v=c-W1z0hRlE8

As always my work is open and freely available. Take a look at my github account.