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First independent walk after brain surgery (from arduino to PiZero) and porting to python. A bit wobbly and set to cautious mode so pretty slow, but shows promise. And cute :) Doesn't use any pre-set gait, calculates weight shifting and leg movement completely runtime and dynamically so can walk in any direction: forward-backwards, strafe and turn, and any combination of those, and blend or change any time. The legs are a bit too short to be practical, but wanted to make him more puppy-like than ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/stompi-my-to-be-telepresence-puppy