Instead of having my humanoid completely lift its foot off the ground, it “shuffles”. At least one part of the foot remains in contact with the ground. (It does work when there is no ground underneath the foot, though)
I finished the right leg on Tuesday… I worked on the left one today, and will hopefully finish it off tomorrow so I can spend some time on it on Saturday 
(and make an insightful blog post for once)
What I’m interested in seeing is what is the maximum speed the robot can go at, without tipping over. Since I’m coding it in slow-motion, I may not account for all of the possible moving parts when the robot is going faster.
Robot motion is pretty cool stuff- it looks easy, but it really isn’t 
I’ve also been working on a few other things… 
More on that (hopefully) tomorrow or Hallowe’en.