
I have this all running now, including contact sensors which are fed back to the HexEngin via a TCP packet, so that terrain adaptation can be simulated. This worked surprisingly well, until I added the ball joint linkage, it seems to have slowed the simulation down to running at 0.2 x real time. This causes problems with contact feedback to the HexEngine, and the hexapod gets into an oscillating shuffle! I have experienced this in real machines before.. and its usually to do with contact sensor problems or leg speed tuning.
I can remove the ball joint at the end of the metatarsus, but its a bit of a shame, as I wanted to use the angle of the joint to simulate ankle joint position errors. I will post on the Webots forum to see if there is a solution, without purchasing a faster machine ( Currently dual Xeon 2.66Ghz, 4Gb )

One encouraging point is that the machine was able to stand up at full weight :) which confirms our previous calculations and power requirements. We are aiming for a body weight of approximately 800Kg, the simulation seemed happy with a weight of 1200kg.