SPIDER X Hexapod Robot up and down motion Test

The Video shows the up and down motion of 6 legs of Spider X, Recently we found that CAN bus communication is not a good solution for Inverse Kinematics method for this robot.
Except we tailor make a special communication system something like EtherCAT Bus system or tailor make a mother board/firmware using PWM method. both method have pros and cons.
CAN bus is still not a bad system until this moment due to it can really prove the design concept is true and now works.