I think you should reduce the activation speed of each diagonal of the legs, that is, put a delay between one side and the other and their opposite ones in order to know what happens.
--
You received this message because you are subscribed to the Google Groups "Stanford Quadrupeds" group.
To unsubscribe from this group and stop receiving emails from it, send an email to stanford-quadru...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/stanford-quadrupeds/a3260079-ddb2-436b-8106-1a843e7c11c0n%40googlegroups.com.