Thanks, Yep I have the book. The only problem is that in the 30+ years since my last college math class I forgot everything, so it all looks Greek to me...
Looking a bit more at why I think my legs do look right to me, may be an issue with the THex 4DOF manual. This is if you look at:
Also adjust each leg's knee outward one 'click' or 15Â°.
But if you look in the THex-4 source code at the offsets, it says:
cTarsHornOffset con 150 ;Snap out the horn one click inward
So my guess is Step 12 is wrong and my leg is off by 30 degrees.
Will try to update it soon!
Once I have it feeling right, yep I will create another poor quality video
Ted: My first thought was to have the other legs be the two middle legs and it would be interesting to do. I only did it the way I did was because while making the first video I found that there was at least one bad servo in the middle legs, so I rebuilt those next.