Thought I needed to post a short video of my accomplishments so far using webbot's gaitDesigner, gaitRunner and soon to be released delta function for dynamically adjusting servos in real time. video 2010 07 31 19 36 37
It may not look like much but this is a HUGE leap forward in being able to dynamically stabilize a biped in real time.
What you are seeing is my robot running its default 'home' motion waiting for another motion to be called.
All the work of managing motions and reading sensors is being done in the background using the webbotlib scheduler so there is no messy code to play motions. All I need is one line to ask for a new motion to be played and it happens in the background.
The feedback the robot is getting is only from an accelerometer, meaning the data is only really useful to measure slopes or when my robot has fallen over. My gyro is busted so it will be a little while yet till I have full dynamic stability control on my biped :-DEdit: I'm holding an accelerometer in my hand which is directly influencing the angle of the ankle joint, which will make my robot always stand upright.