Meet Walbi, a 2:1 scale humanoid with Arduino programs for motion capture and playback. Move it by hand, record and then play it back.
Project tutorial by The Inner Geek
An open Source kit to build a walking smart robot dinosaur.
Project in progress by Jacquin Buchanan
I think your perception module is too slow, I saw how you are using the Light Lidar to scan and get the scene in front of the quadruped. 15 seconds is a long time, and 100x100 is a really small area. You need to drop the light lidar, buy the OEM D410 (accuracy) or D430 (speed) sensors from intel (unless you want color, then use the D415 or the D435i - the i has a gyro and can help positioning for mapping). The processing on the chips of these devices will give you the point cloud and works outside as well since it uses stereo + an IR laser projector and you can drop the swivel action. You should do the processing of the cloud on something better than an arduino, like the raspberry pi. The rule of thumb is the following:
arduino: does X and Y
raspberry pi: does X, does Y, does Z, ...
And you can hook up an arduino to the pi. Feel free to message me if you need any help.
I think your walking gait is off, you can't move one leg at a time (but it is a software fix). Looks really cool as a prototyping kit!
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