It’s Alive! Did way too much math. I got the inverse kinematics fully working, allowing me to get the leg to any (z, y, z) in reach. Then I used python to generate 870 000 points it could reach and plotted a point cloud in CloudCompare. I then derived and implemented a composite cycloid trajectory to have smooth(ish) steps. By the end, I got my test leg to take its very first steps! One video shows a walk mode (there is some shake due to backlash, although I think it will be reduced with ground pressure) and the second shows “run mode”.