Hexapod then and now.

spider robot

My hexapod from 2000 had a PIC 16C84F and the servo leg positions for its gaits were precomputed,  the data filled the entire micro-controller.  Linear interpolated gait look-up tables were the way to go. It seems that the approach is still a sound one.  http://techcrunch.com/2014/07/31/watch-this-robot-learn-to-walk-off-an-injury/

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