Parts printing and assembly has finished. After initial calibration, I’m now writing simple scripts to see the limits of the platform. We started with push ups:

With that done I’ve looked into how to lift the leg without tipping over. It took a bit of time to figure out the angles of the rest of the legs so that the center of mass shifted backwards slightly.

![alt](/assets/images/quadropod/2019-09-29 09-23-32.jpg)

At this point I start to believe I’ll need to write a library with some geometry calculations in it. Doesn’t come as easy as I imagined starting this project. LOL.