Bottleneck

SSC-32 => PWM (500uS to 2500uS) => servo
Where 500uS to 2500uS determines the position of the servo from 0 degrees to 180 degrees.
Query Pulse command will query the pulse width from the servo.

However there is a problem.

Query Pulse command is absolutely useless since servos will not report back with the real time position.
By querying the pulse from the servos through SSC-32 servo controller, the only information I will receive is the demanded position the servo controller is telling the servo to be at; therefore no feedback, and no effective means of error correction.

I might be able to remove the servo casing and have a direct feedback from the potentiometer, but such approach might interfere with the rigidity or even the whole assembly mechanism of the robot.

We'll see.

Inverse Kinematic

Measurements are taken from the base of the rotation from joint to joint.

3.6cm (height from the ground)
2.8cm

5.65cm

11.7cm

Cleaned up cables and slight modification done to the legs

[ 7.5m Cable wrapper $2.50 Shipping $4.00 ]

Must correct servo offsets again.