Yesterday, after a marathon session of programming and mechanical engineering, I finally got Lurch, my 6-legged walker robot, to move on his own! Woo hoo. He's a bit spasmodic yet, and I need to do some fine tuning of the leg positioning targets, but he can now walk, untethered from the laptop, in a fairly straight line forward.
Next, after a bit of tuning, I'll add the ability to turn and back up. Then, a scanning sonar sensor, I think.
I may have to do some experimenting to see if I can produce some insect like noises for him to make at appropriate times.