programming walking gait for hexapod (solved)

[exapod]

i build this hexapod: http://letsmakerobots.com/node/29821 .But now i have some problem implementig an hexapod gait, the wave works fine but when i try the hexapod one it fall on the lower right leg (if you see the hexapod with the arduino near you).
i post a similar topic in the italian forum : http://arduino.cc/forum/index.php/topic,87328.0.html where you can read the code.
Can someone point me some hexapod gait resources or sample code?
Thank you for the help and sorry for my bad english.

[zoomkat]

Discussion that might have some info.

http://www.lynxmotion.net/viewtopic.php?f=20&t=6730

[JasonK]

I would suspect a forward gate would be something like this (sudo code):

give legs lay out of:
3  6
2  5
1  4

raise legs 1, 3, 5
move legs 1, 3, 5 "forward" & legs 2, 4, 6 "backwards"
lower legs 1, 3, 5
raise legs 2, 4, 6
move legs 1, 3, 5 "backwards" & legs 2, 4, 6 "forward"
lower legs 2, 4, 6
repeat

[graynomad]

Maybe you should ask over at the SoR forum

http://www.societyofrobots.com/robotforum/index.php

IIRC there is a program to do this, I think you tell it the gate you want and it generates code or some such. The SoR guys would know.

______
Rob

[exapod]

Thank you JansonK i resolved the problem, i was moving the legs 1, 3, 5 "forward" and legs 2, 4, 6 "backwards" in two separate step, now i put together the two action and it walks without any problem.
Thank you all for the help