Here it is… the first steps of our pentapod. Even if the algorithm produces precise results, the servo angle do require some offsets to work smoothly … and of course better servo motors (not these cheap and unbalanced).
The motion system is using a GAIT sequencer to produce the motion frames and the IK algorithm translates them into actual servo angles. Moreover a blending algorithm is used in order to change the body’s position/rotation during the step motion but without affecting anything.
Soon there will be a smoother version.. until then enjoy this video!