I have programmed and run my five legged robot. Bellow I show you a movie with its capabilities.
A robot is controlled from a Laptop computer using a Bluetooth. It walks very nicely, even on terrain with various obstacles. Its gait is stable and fluent and can go with the speed up to 20 cm/sec. During the walk, it consume about 1,3 A, so the battery lasts for 1,5 h of walking. So far there is an assumption, that robot walk on the flat terrain because it doesn't use any force sensors in his legs, but it is sufficient to walk even in external environment. I want to thank Farnell for help and support with electronic parts to the robot.