Most hobby bipeds I see either shuffle with fixed servo sweeps or never leave the safety rig. This third iteration of a DIY biped does both: it walks with a noticeably smoother gait and it even tries hopping on one leg. Compared with the jittery first version, the V3 walks with more confidence and far less shake, a real jump in quality for a home build.
The mechanical layout looks thought through. A blue and white chassis hides the internal wiring, longer pale leg linkages connect to the blue panels, and modular actuators sit at the hip joints, with Gim6010-8 24v motors providing the power. The robot runs tethered to a long horizontal boom arm on a weighted central pivot; in my view that is a sensible way to test a walker that still tips over. Driving is handled with a black wireless gamepad, while a laptop displays telemetry with gait trajectory graphs and a kinematic stick figure.
Out on the floor it walks across hardwood and foam mats, takes alternating steps forward and reverses along a circular path. During hopping tests the single leg pushes off the yoga mats in rapid cycles. Single-leg balancing is nailed in simulation, but in the real hopping test the robot lost balance and tipped forward. Closing that sim-to-hardware gap is the open question here, in my view.
Durability is the sticking point. A joint broke three times during testing, and a GT2 belt let go under tension partway along a straight path. There is also a harsh moment when a stop command follows a forward command. With the maker already considering future jumps and even a backflip, sorting those weak points first seems like the wiser route to me.