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Engineering Notes for Walking Machine "Quad One"

Here is the mathematical model for the legs

V =rotations per second
T =seconds elapsed
AA =2*PI()*V*T
X1 =R*COS(AA)
Y1 =R*SIN(AA)
X0 =0
Y0 =-D
X2 =X1-L*COS(ATAN2((X1-X0),(Y1-Y0)))
Y2 =Y1-L*SIN(ATAN2((X1-X0),(Y1-Y0)))

Stride Length based on various starting angles
Starting Angle 0 45 90 135 180 225 270 315
T value 0 12.5 25 37.5 50 62.5 75 87.5
0 0 50 65 71 68 64 63 60 55
45 12.5 55 50 65 71 68 64 63 60
90 25 60 55 50 65 71 68 64 63
135 37.5 63 60 55 50 65 71 68 64
180 50 64 63 60 55 50 65 71 68
225 62.5 68 64 63 60 55 50 65 71
270 75 71 68 64 63 60 55 50 65
315 87.5 65 71 68 64 63 60 55 50