Two Leg Robot

I am making progress on getting the two leg robot to take a second step.

I added more "flags" to more finely control the robot motion, and got my first robot step without falling after. I have completed the first step without falling while the script is running at least 5 times, but when the script ends, so does all motor control, and so usually there is a little momentum that then causes the robot to fall. So I feel much better about the prospects for old "Two Legger" now.

Before changing to working on a step in place, I did get lucky on a few step forward tries like this one.

More work on getting a right step. It's tough to repeat anything because the velocity of the first stage varies widely- I am trying to figure out how to get a constant velocity using various strengths of gear motor thrust depending on the current velocity of the robot body segments.

Working on the last stage in a right step (stage 5), the stage that stops all the remaining motions.

Leaning two-leg robot left and right two times