StomPi, my to-be telepresence puppy ^_^

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 the typical "spider" legged quadrupeds. More optimisation of the gait algorithm to come to make him more efficient and smoother, plus plan to add some sensors and a webcam to work as a "telepresence puppy" :) (see a few previous versions on my youtube channel)

(youtube link: https://www.youtube.com/watch?v=3e4ZW9gtczE)