Hi James,

I am building a spot mini clone called spotmicro. And i need help with the inverse kinematics. I think that most of your kinematics model can be used, but i am not very good with algebra and trigonometry.

What would it cost me to have you adjust your code so it can be used on my robot?

The differences between your robot and mine are:

• I don't use the hall effect sensors (compliance)
• all 4 of my legs point the same way
• my legs don't use gears. They are directly driven by the servos.

I use an mega2560 do drive everything.
Here is an image of the robot:

And this is the link to all the cad files allthough i can give you all measurements you need.
spotmicro cad files

I hope to hear from you.

Mano