Here is the first video of ODOI doing its first steps:
There are really a lot of room for improvements here but I wanted to make public the video anyway and consider it as a milestone and then, we can measure the progress.
The main point is that the gait I am working one, based on an articulated foot and a passive articulated heel, is validated. The robot is working almost like a human being without bending the knees al the time like robots using gaits based on ZMP. In this way, the gait I propose is quite novative.
The most difficult part is the lateralization and the control of the upper body which is jiggling a lot as you can see on the video.