Let's Make Robots!

Incremental rotary encoder

I am looking for incremental rotary encoder for inverted pendulum project, maybe somebody can give advices which one to use, how precisios it should be?

Maybe there is better way to messure angel of pendulum without using encoder?

Quadruped robot kinematics

I made quadruped robot and stuck with kinematics part, problems with center of gravity (Atmega16, 12 servo - current accuracy 5 degrees). I can't get it nicely walking, maybe someone can offer any tutorials for it or ideas?