So at this point B.E.T.H. is a stock MkII PhantomX Hexapod with stock code. Pretty boring. The provided code is great for impressing your Mom, but if you really want the attention of your heart’s desire, you’re going to need your own code!

I think the best part of this is learning how it all works. You can stare at other people’s code all day long, but to really “get it” you have to figure it out and write it yourself. So here’s the game plan:

• Phase 1: Driving the Servos
• Phase 2: Leg Inverse Kinematics, i.e., Pointing a Foot in 3D Space
• Phase 3: Body Kinematics, i.e., Body Translation/Rotation with the Feet Planted
• Phase 4: Foot Trajectory Planning and Gait Sequencing, i.e., Walking Part I
• Phase 4: Foot Trajectory Planning and Gait Sequencing, i.e., Walking Part II
• Phase 5: Terrain Adaptation

On to Phase 1: Driving the Servos!

Or head back to the beginning of Project B.E.T.H.