For the stereo 3D effect, you will need red/green or red/blue glasses salvaged from some Vincent Price movie show.
(1) Under Windows the program still runs, but Windows 3.1 and above does not allow any direct access to the graphics memory as DOS did; the Windows-controlled screen refresh conflicts with the program-controlled refresh, and as a result, the screen may flicker unbearingly on some machines. I lost the code diskettes during moving, so this cannot be changed....
(2) The program will apparently not run on 64-bit machines.... This program shows its age of 17+ years!
Now press [H] to enter the Hexapod control mode. Note that all the speeds are initially at zero and that all the legs are on the ground. Press [R] to randomize the leg positions at will (and at any time you think it is necessary). Start moving by pressing [+] several times, it increases the forward speed, and observe the pattern of the legs as they walk. They will end up in a form of alternating tripod. Once this is the case, try throw in some crab component (not too much!) with the left-right arrow keys, or vary the elevation of the hexapod to step over some invisible boulders with the up-down arrow keys.
Finally, go back to the [D]isplay control mode, as the hexapod is walking, to try other commands. They are all listed in a help screen that you can call up by pressing F1.
The bearing is the angle at which the observer is in the horizontal plane, with 0 deg being straight ahead of the hexapod. [Left Arrow] increases it, that is the observer turns clockwise around the hexapod, and [Right Arrow] decreases it [default is 120 deg, right rear view].
The elevation is the angle line of sight in the vertical plane, with 0 deg being horizontal. [Up Arrow] increases it, up to 90 deg, i.e. straight above, and [Down Arrow] decreases it [default is +20 deg, a slightly elevated point of view].
The magnification, the overall size of the insect on the screen, is controllable through the [Pg Up] (increase, i.e. decrease the projection distance) and [Pg Dn] keys.
If you lose track of your spatial orientation, press [R] to reset the default values for orientation and proximity controls.
 red and green, black background  red and green, light background  red and blue, black background  red and blue, light background  no stereoscopic view (default)The [+] and [-] keys increase or decrease stereoscopic disparity. If you are not used to stereoscopic viewing, you may need to decrease the disparity. The program computes the real perspective but only an equivalent "convergence angle" is displayed in the information line. When 1280 ° 1024 resolution screens are available, the more natural side-by-side parallel stereoscopic viewing may be a viable option.
The cast shadow of the hexapod can be toggled on or off by pressing [S]. The shadow is cast from a vertical light source and helps in fact to visualize the direction of gravity.
Note that the refreshing rate of the display is faster when Ground, Shadow, Information line and stereo are toggled off.
The local control of the legs would be under proprioceptive and tactical sensory influence, but the user provides the higher brain controls of the hexapod. There are essentially four controls to cover the voluntary acts involved in walking, and they would be ideally combined simultaneously with two two-axis joysticks, as there are not enough practical keys on the keyboard to control both the display and the hexapod simultaneously. In the future, the hexapod, given a specific task, should decide on its own what combination of these four controls suit the immediate environment, based on remote sensing.
[+] or [-] increase or decrease forward speed [F9] or [F10] turn [disabled] left or right [Arrow Up] or [Arrow Dn] increase or decrease ground clearance [Arrow Right] or [Arrow Left] crab to the right or leftIf the hexapod gets clearly in a confused state, and this can happen due to the simplisctic leg control, you can press [R] to randomize leg position with all six legs on the ground. The gait will self-organize to tha alternating tripod gait after a few steps.
[F1] Help for DISPLAY control [Arrow Up] increase elevation; see from more above [Arrow Down] decrease elevation; see from more horizontal [Arrow Left] increase bearing; turn clockwise around hexapod [Arrow Right] decrease bearing; turn counterclockwise around hexapod [Home] home in on hexapod but keep image size constant [End] get away from hexapod but keep image size constant [Pg Up] increase magnification╗ decrease screen distance [Pg Dn] decrease magnification╗ increase screen distance  stereo left RED right GREEN, black background  stereo left RED right GREEN, light background  stereo left RED right BLUE, black background  stereo left RED right BLUE, light background [+] or [-] increase or decrease stereoscopic effect  no stereo [S] toggle cast shadow [G] toggle ground dots [I] toggle information line [R] resets default viewing values [H] toggle to Hexapod control [Esc] quit program [F1] Help for HEXAPOD control LEFT JOYSTICK: [+] increase forward speed [-] decrease forward speed [F9] turn left [disabled] [F10] turn right [disabled] RIGHT JOYSTICK: [Arrow Up] increase ground clearance [Arrow Down] decrease ground clearance [Arrow Left] crab to the left [disabled] [Arrow Right] crab to the right [disabled] [I] toggle information line [R] randomize leg position [D] toggle to Display control [Esc] quit program