A study of spiders

The decision of copying spiders in the physical design of the robot has spawned some extra focus to the project.

Here are some you-tube videos showing spiders moving in slow motion:

 

And here a study of the degrees of freedom found in the legs of a spider, summarized elegantly in the two shamelessly borrowed figures below:

Range of freedom in XZ plane (Z is up)

Range of freedom in XY plane (ground)