Biped update – movement principles and details

This post is a follow‑up to my previous one about the development of my LEGO Technic walking biped, and an answer to those who asked for more details about how it works. The design can be summarized in three main points: creating a smooth and predictable step, changing direction on remote command, balancing the biped while shifting weight from one foot to the other. Smooth step trajectory In my design, the step is generated by a rotating point that, through a system of leverages, produces...