true, i saw the arduino code, thanks to a lot, maybe the simulation software can also be easily extensible like array. looking forward to publication on GitHub.

Also i was asking myself how did you develop the existing movement sequences, which are really great work, did you step by step, servo by servo enter the numeric values?

Hello, how is the progress on this? Will it be able to get the servo positions if i move them? I am very interested, especially if it could support other robot shapes and similar frameworks for animating a family of OpenCat derivatives that could emerge from there, OpenAnimal etc.. Why not open source the current state soon so others could probably assist. Best regards –d.

@Rongzhong Li very cool (: in real muscles usually one direction of movement is stronger than the other. a spring on a servo can help to partition its available force to better fit in resembling a natural muscular system

@Rongzhong Li true, still a nice model, the power and the build makes it look unstoppable he. but jumping could be fun too, probably lighter and faster motor, and maybe a spring that is acting as a speed-up in one direction.

@maurice cheung woah 20 kg is something.. if they're fast enough it could almost jump he

veeery nice and strong cat, could you share weight and servo type?

Your questions are to the point. i was following this guide http://hackster.io/RzLi/petoi-nybble-944867 hence the main chip is arduino pro mini as well @16Mhz clock frequency. SRAM and flash are quite limited on arduino hence one of the less well documented problem was size of sketch because it didn't allow me to upload at first, but i found solution in this forum and remove many Serial and beep calls so i could upload more skills. For battery it uses 260mah 7.4V Lipo cell, but also heavier cell is not a big problem. Lego is also a bit heavy, compared to its stability: the overall weight is 315g. The size should be about the same as orginal Nybble? with a bit bigger legs it wouldn't get up, because servos are weak. also i didn't get it to run well with rubber shoes on. probably due to balance not being perfect, also annoying was i needed to recalibrate servos when it cannot move from too much stress on one of the legs. At least the lego is safe from breaking when applied force is only little haha.

Ha no prob, the code and walking algorithm work like a charm when settled right. I had to change the MG92B_MIN and MG92B_MAX constants so it wouldn't collide with support structures (plus some other modification so it can still work on arduino, i should have invested in nybble board but couldn't wait hah). For sharing you can only link the video or cite channel if you want.