I agree that too. The gait is created through simulation by setting the following 7 postures and adjusting the time intervals among them (the code is in the Matlab file).

Thank you🤓

Thank you!🤓

I appreciate you created the Nybble and Bittle to allow anybody can get in touch with the Boston robot dog and test their ideas. I always have the question of why all robot dogs don't/cannot run until I made the running gait myself -- running is a power-consumed and mechanical-structure-consumed gait.