So I did some further work towards controlling the legs. I added a set of sliders to the GUI that control the legs individually or together. The one for the left leg 'contracts' the leg so it raises up in a straight line. This is achieved by programming the slider to add values to multiple joints at the same time. Specifically, for every 1 degree that the hips and ankles move, the knee will move by 2 degrees. This is using very basic trigonometry and is the basis of inverse kinematics. I

  Here is a poor quality vid of messy room and shakey legs. The slider controls the legs up and down movement. I should be able to use these movements at a later date to begin the basics of walking.

These next vids are demonstrating the use of one slider to teleoperate the legs. That one slider changes values on six joints at the same time. Previous movements have been generated by merging between two previously save positions, but those I need to teach it. The slider controlling all six joints is creating a new range off movements according to all possible configurations of an equalateral triangle made by the legs:

 This video also demonstrates the PID program I have been working on to control the legs. I think the jerky motion is caused by the maths behind the PID I wrote. As I move the slider up, the difference is only small and so the leg power output is not high, but after a period of time, the error multiiplying over time causes the power to increase which makes the legs move upwards but they jerk upwards because they are catching up to the desired position. This would mean that I should slightly increase the effect of the Integral factor, so that the power increases slightly quicker. The danger however is that by increasing the speed that the integral affects the power output, the legs will become even jerkier . The legs will eventually have large LiPo batteries in the shins, this will prevent some of the wobble and jerk for two reasons. The batteries have enough current to drive the legs without cutting out ( the current power supply cuts out past 4 amps). Also having slightly heavier legs will lend overall stability to the structure. At the moment they are all motors and plastic, but not much weight which causes them to jerk and wobble. Having the extra weight will dampen the jerky motions a little.

   The main change that is require however, is to completely redesign the feet. This will take a long time indeed. The feet need to be bigger ( not massive). They also need to have four rubber points to absorb shock but more importantly will house the force sensitive resistors to give feedback on weigh dispersion. I can then write a basic bit of code that modifies the foot position to always have the maximum weight dispersion. This will be the main ingredient that is going to stabilise these legs.