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
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Very cool to see your MHEX II walking.
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