Nija Running #2 -- animation

After a bit more tweaking of the "running" code, the quadbot is now moving around 5 times faster than its original "zero point" speed.It's about twice as fast as the prev "running" gait after I hacked in some knowledge about conservation-of-momentum.It turns out the "side kicks" the bot makes in order to lift & move its feet forward without bending its knees are a great way to control the dynamic stability of the gait.Since all 4 feet must move forward there are 4 "opportunities" to kick out left or right in order to maintain the balance on the 2 grounded feet.By adding in a planning "operator" that manipulates the bot on its roll axis, the planner can now maintain a dynamic balance on 2 feet for up to 75% of the time.Reducing the number of feet on the ground -- especially when it involves a simple planner than can end up making small opposing movements of grounded feet in the course of trying to lift or plant them -- reduces "drag" significantly.In the last clip of the vid the present s/w is tested. I've moved all the "I" logic into 1 motion rule/operator, and removed a temp hack that had the "quantitative logic" part of the s/w doing the momentum calcs. The s/w design has therefore returned to a reasonably "clean" state. :)