I stumbled onto these videos from duris600 on youtube.
youtube.com/watch?v=KQ2tIhFgiFc
youtube.com/watch?v=nnq3c8ockUA
youtube.com/watch?v=o9HHv3bTzL0
It’s definitely an SES quad. Not sure who did it though. 
Some of the best quad walking I’ve seen! Thanks for sharing.
Thats the best quad walking gate I have ever seen. It looks extremely complex.
I started a thead a while back about this but i thought it would be better to start again here.
“One wants the robot to walk as fast as possible but it’s limited by the
speed at which the “flight” foot can move forward. So you set that velocity
to be the maximum that the servos can achieve. That’s fine until something
slows down one of the servos - perhaps it’s working a little harder. The
quad creep gait depends on the CoG leaving one triangle and entering
another just as the old triangle disappears and the new one appears. Those
are the critcal two instants in the whole creep cycle. If a servo is
running slow then that changeover can go wrong and the robot falls over”.
With a hexapod tripod gait, it’s possible to make
successive triangles overlap so that the CoG is always within a triangle.
That makes walking much more tolerant of mistakes.
With a quadruped tripod gait, successive triangles only. So the CoG has to leave one triangle and enter the
next one just as the old triangle is disappearing and the new triangle is
forming. That’s tricky to get right every time.
i have spoken to the designer Jeong Woo Park about the gait and has been working to get it to work iwith basic atom etc.
here is the vid!!!
I’d let that thing carry my beer any day!
Anything more on Park’s quad?
I remember seeing a drawing (JPG?) illustrating quad locomotion some where on the Lynxmotion website. Anyone remember where it was?
Alan KM6VV