I took the robot with me to the EuroPython 2022 conference, hoping that I will have some time during the maker hacking sessions or during the sprints to work on the code further. And I did manage to improve the gait considerably:

There is of course still a lot of room for improvement. I need to rewrite the code to make it more modular and maybe make use of the async features of CircuitPython. I also need to think about how to move the servos more fluently, possibly along defined motion profiles, to give the robot a more organic look (and put less strain on the servos too).

Then, I will work on a remote control program for the #PewPew S2 console, to control the robot over WiFi or ESPNow.