Are you using any sensors to determine the attitude of the main body e.g MPU 9510 (9 axis sensor),
Are you getting any feedback from the feet to determine when they come in contact with the ground ? (I can't see from the video if you have a micro switch etc on the feet which you are using to do this)
Are you just looping the servo's though the same sequence ? or is there some feedback system that adjust the walk ?
Do the legs rotate at the hip? so that it can turn, i.e not just walk in straight lines ?
Are you going to post your code ?
Until now no sensors is used to let Jizzy to balance himself. Sure this is one of next steps :)
For this matter I am developing the new armpits and hips (the old versions of these components was weak and not precise cause I was using too long ties) to let Jizzy to mantain the correct balance;
the right example to let you understand what I mean (grr my poor english :( ) is the BostonDynamics Bigdog, when a man pushing him sideways getting bigdog spreading her legs to avoid losing his balance.
Same thing will happen in Jizzy project.
I was looking for MPU-6050 Accelerometer + Gyro but the MPU 9510 seems a lot better!
Over all that, yesterday I finished the code to let Jizzy to know when his feet touching the ground!
All that using a 60cm long Force Sensitive Resistor from which I obtained 4 sensitive resistors (one for leg)!
It's a damn HOT AND GREAT thing because now Jizzy push the legs to let body advance ONLY when he know the single foot is in contact with the ground! This make Jizzy really more balanced, more precise when he is walking, and especially is the first project step to let the robot walking good on a not flat surface.
Until the foot is not touching the ground, Jizzy will advance his forearm in an attempt to reach the ground! It's hard with my english to make you understand good my words :( I hope today or tomorrow I will put a new youtube video :)
So the the walking is not a simple predetermined script. It using a timer to rule the legs orders but that timer is modified by the 4 tactile feet sensors! (push to advance just when you are sure your foot is on the ground! If not you will fall down like a drugged cow!)
About the possibility of turning left or right, sure! is on the way :)
And I am think about to use just the frontal legs or all 4 legs to let Jizzy turning good!
Now there is 3 motors for 1 leg:
A) Arm motor. Let the entire leg going forward and back (longitudinal)
B) Forearm motor. Let the forearm going forward and back (longitudinal)
C) Hip (or armpits) motor. Let the entire leg rotate in hip (or armpit) pivot. (like BostonDynamics Bigdog when trying to stay balanced after the man pushed him sideways)
I hope you understand something :( Really sorry for my funny english