Here are two new videos I want to share. The first video shows the robot walking at real speed. The gait is quite stable and the video shows two cycles and the second part focus on the legs movements.
As mentioned before the gait I implemented is different from the one used by most of the existing humanoid robots. Here the gait implements a heel strike, a forefoot push and the stance leg is straight during the swing phase. In other words, the robot never keeps the knees bent.
The second video shows the same sequence but a speed 4 times faster, it is interesting because it looks more "natural and/or more smooth" I will say.
I will post a note describing the robot and how I implemented the gait very soon