Looking good. Are you only using data from giros/accelometer or are there any pressure sensors on the feet? It looks like it is reacting well to accelerometer data but doesn't know where the centre of gravity is on the foot. I am just about to make a sensor array on the sole of my feet so that it can shift centre of gravity around and balance on one foot. I am a long way from making strides though.

Thanks. I have some force pressure resistors/sensors on the feet, one on the front and one on back of each foot currently, but am going to change it to 4 (add two to each side). I use those to try and detect when the leg in the air touches the ground, but it is not very reliable currently. If that data was accurate, it would be very useful to determine how much weight is on each part of the foot- which would help to determine how to throw the massive weight of the torso around.