PLEN Robot walks using custom Trajectory and IK solver

This video shows a modified PLEN robot from The Plen Project walking using a custom foot Trajectory and IK solver.
The CAD files were modified to fit 9g servo motors, a Raspberry Pi Zero W, an Adafruit PWM board and IMU.
We hope you enjoy it!
Website: moribots.github.io/project/plen
Github: github.com/moribots/plen_ml_walk

[@RaminAssadollahi]

I love your work! For Kayra, I developed a whole terminal based servo / posture / animation suite to generate postures and interpolate them. I'm starting to dive into IK right now. What I did in the meantime is to compute similarities between the postures to let her understand what postures can be used "next". I know that all that is unconventional, but I'd love the robot somehow get a "feeling" for her body, what she can do and what not.