The LocoKit web interface provides a high-level interface that facilitates quick experimentation with standard gaits.  Advanced users may however want to program their own specific gaits, this is current supported through APIs implemented in C and Python.  As described under Software, the LocoKit main board runs Linux and comes with both a C compiler, an editor, and Python installed (in addition remote acess using e.g. ssh facilitates remote access from an IDE).  Moreover, complete documentation and exampels are included with the system.  For reference, an overview of the respective APIs can be found here:

We are continuously expanding the capabilities of these two APIs based on feedback from students and researchers using the system.