Short recap: After building the quadruped with near-direct drive motors, I discovered that the lateral servos had insufficient position control authority to keep the robot standing up. Thus I embarked on a now month long quest to design and build an integrated planetary gearbox. At this point, I have enough gearboxes built for all the lateral servos, so it should be able to walk, right?
And tada! It can! Well, at least a little bit. I’ve only spent a short while with the gearbox based chassis, and have a lot of work left to do. However, here’s a quick video showing it walking around, slipping on a ruler, and almost falling over a few times.