Here come the movies and screen shot I promised a while ago... except that instead of my hexapod, this is a MegaRobotics dog, loaned to me by a friend of mine.

moive: side view
movie: front view
screen shot: source code

The software is coming along nicely, but defining a single sequence of operations (for example, the stand-up routeine at the start of each video) is more trouble than it should be. It might be nice to have the state machine system interpolate from one pose to another when transitioning from state to state... I still need to think on that for a while, but it seems promising.