I don't think the servos responsible for vertical
motion consume much current.  In fact, they consume
the least.  When the hexapod's leg is fully extended
(leg down), the weight of the hexapod pushes against
the center of these servos.  Therefore, no holding
force is needed for these servos and they can be
powered down.

The servos responsible for horizontal motion consume
the most current, especially when the hexapod tries to
make a turn (eitherleft or right).

The hexapod I have is quite heavy (with 12 AA
batteries, 13 servos, DC/DC converter).
Thomas

--- "Peter L. Peres" <plp@ACTCOM.CO.IL> wrote:
> On a hexapod the motors bear the entire weight of
> the vehicle if you do
> not employ weight compensation. This is made of
> springs that pull the tops
> of the 'legs' down (or the chassis up), mounted
> between chassis and the
> tops of the legs. Use fairly long springs so they
> give constant force in
> despite of displacement (stepping). You should be
> able to halve the
> current. Also check for servo binding.
>
> Peter
>
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