PropHex- Omni directional, Propeller controlled Hexapod

Here are a couple of pictures of my omni-directional, Propeller controlled Hexapod. The body is a slight modification of Lynxmotion's AH3-R design. The electronics consist of two propeller servo controllers using the object by Austin Bowen and a USB, Propeller proto board that I received at the UPEC, and the Ping))) uses the object written by Chris Savage & Jeff Martin (Thanks!).
The program is completely home brewed and is basically a port of a hexapod walking program that I created for an earlier hexapod that used a BS2sx. The program allows the robot to travel in any direction and avoid things by looking left and right until it sees an opening. The demo video has the robot using a basic obstacle avoidance program where the robot is always walking in the direction that it's "head" is looking. Notice that the body itself never turns. The robot is a work in progress and I'm hoping to bring it to the UPENE...

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