Zoidberg : Control via a PS3 controller

Here I have kludged together a bit of software to take input from a bluetooth paired PS3 controller and send commands out of the XBee modem attached to my laptop.  The two analog sticks function for "look" and "drive", the face buttons select gaits, and the top right shoulder button engages "strafe".

Zoidberg : IK based walking

With some wrangling of the existing code base, I have gotten basic IK walking working.  These servos have a higher resolution than the ones that the code was originally written for.  I think now I will do a little bit of physical optimization, perhaps some reworking of existing parts.  Then work on further software tuning.  
Two gaits are shown a basic ripple gait and a smooth ripple.  The smooth version has more steps per cycle.