TemplarGFX wrote:If the Sphere parts are attached to the Femur sections rather than the Tibia sections you could use angle changes on the Tibia servers to shift the centre of gravity to make it roll in any direction you like. Put the Tibias flush with the sphere at the point on the sphere you want it to roll towards, and the Tibias on the opposite side point in towards the centre of the sphere. it should be enough of a shifting in weight to cause it roll providing your Sphere sections are solid.
I'am afraid just moving the tibias isn't enough to change the gravity. I'm not sure how to attach the sphere parts to the femur section without getting in conflict with free movement of the legs. Also I'm not using 31 servos, but 25. So there are legs only on the bottom part of the sphere.
Yesterday evening I temporarily mounted three of the sphere sections using strong velcro. I did it just for testing. So far it seem to work very well! MorpHex curled together like a sphere and back to a hexapod. With the body fully expanded the legs got very much freedom even with the sphere parts mounted. Tomorrow I'll temporarily mount the other three (have to sand them first).
After that I'll reinforce the sphere sections, probably using expanded PVC. And permanently mount them to the tibia sections. The next step after that is the upper sphere section.