biped Trashbot 5, learning Center of Gravity for longer strides

I'm working on improving the stride length of the original BoB logic (four servo walk). I decided to add two hip servos and I hope I can get away without adding additional ankle servos... 

This is how Trashbot 4 transformed into Trashbot 5:

https://www.youtube.com/watch?v=0fUss5tq3L8

And along the way, I learned a couple of things:

How wide should the feed be?

https://www.youtube.com/watch?v=sZ8Bz_ioReo

Successfull yes, but full body has different Center of Gravity and should help.

https://www.youtube.com/watch?v=wBxXjNAE0II

So the full Trashbot 5 assembled:

https://www.youtube.com/watch?v=-1FdpTjBK_g

And finally experimenting with servo settings and postures to do his first kick!

https://www.youtube.com/watch?v=IWzHhI1aTuE

For more info, here are the two relevant blog entries:

hardware: http://assadollahi.de/working-on-more-degrees-of-freedom-in-the-legs-of-trashbot/ 

movements: http://assadollahi.de/trashbot-5-new-hips-first-movements/