MHEXII - Omnidirectional hexapod walking robot

Hey all!

I'm new to this group so I thought I'd make a start by introducing you
to my omnidirectional hexapod walking robot MHEXII.

This is an ongoing hobby project of mine that started with my simpler
12 motor MHEX hexapod robot back in 2001. MHEX II is a major
improvement to my MHEX robot being a symetrical design with 3 motors
per leg (18 total) to provide omnidirectioal motion in 3D.

At the start of this year I got my new robot to walk using a static
tripod gait. Currently It can walk in any direction given by a bearing
000 - 360 in real-time. The height, speed, stride length etc. can also
be changed in real time as it walks (i.e. i don't cheat by using macro
code or a walk pattern table).

I am using linux at the control end with a gui interface to the
software that sets all the parameters and actually does all the hard
work BUT at the end of the year I intend to transfer all the hard work
onto an onboard ARM controller I purchased not so long ago.

My MHEX II project website has a couple photos and interesting videos
of it in action:
http://mikael.geekland.org

Things on my TODO list besides switching to an onboard computer
include:
*installing foot sensors for climbing over objects
*tilt sensing for climbing slopes
*improve and add new walking gaits
*fitting an onboard camera
*linking my robot with my computer using bluetooth

Unfortunately though, this project moves slowly, as does my website
because I am occupied with my studies throughout the year. Next time i
do more work on it will probably be half way through this year on my
mid-semester school break.

I'd be keen to hear what you all think :)

Cheers
Mikael