3 D Printed Robot Dog Making it More Stable

AD: Get your 45 day trial of the Arduino IDE for Visual Studio: Its the next part in the series for openDog Version 3. This whole project is open source, and the CAD and code are already published on Github. All of the mechanical parts are designed to be printed in PLA, and the main motor drives, of which there are twelve, are cycloidal drives which I developed over a few videos last year, each drive has two cycloidal discs and a lot of bearings. There are three videos in my channel about building the project already which you can check out, but in this video, Im going to make some minor mechanical changes, and attempt to make it walk more dynamically. The main mechanical change Im making is to the lower legs. I talked about the inverse kinematics in part 3 of the series. This involves being able to position the foot in XYZ cartesian coordinates, and work back the maths to calculate each of the three resulting joi