hexapod

Most hobby hexapods walk by playing back a fixed sequence of leg moves, which is why switching gaits usually means stopping first. The hexapod built by ForgeVolt does not stop. It blends from a fast tripod walk into a tetrapod or ripple gait while it is still moving, leans into curves, and keeps its body level when the floor tilts under it. All of the leg math runs on one ESP32-S3, and the…