We have a hexapod (18 Dynapixels) at work ... apart from giving demos to visitors it's not used at all. Gait patterns and (inverse) kinematics are a solved prob

We have a hexapod (18 Dynapixels) at work ... apart from giving demos to visitors it's not used at all. Gait patterns and (inverse) kinematics are a solved problem ... dynamic gaits are becoming more mainstream now, but those require motors that are reasonably backdrivable. Maybe the Dynapixels can be configured to do that, but I think the high gear ratio will prevent that.