With all the hardware improvements since this robot’s creation, there was no longer enough room to fit the full capacity battery I had designed around and so I temporarily used a lower capacity battery during initial bring up. This caused the motor controllers to occasionally brownout during dynamic motions (most noticeable during pronking).

The new body is 8mm longer which allows for a battery with double the capacity to snugly fit. There’s no wasted length inside this robot!

In the video you can see it do some trotting, pronking, Jared’s famous flying 9/13ths trot, and a little bounding.