Here's some thinking out loud about walking and the steps needed to program this or "a" numerical structural system to make this work. A strategy.
So as I walk about, I started thinking about what I'm doing. It appears, to me, that walking is sort of a natural preprogrammed act where the muscles mostly know what to do. Brain tells body go here, go there, it goes here, goes there. So I started thinking about how we could do the same.
I came up the idea that with small amounts of data passed to the muscles we could get good movement.
My assumptions are we are using micro-controllers to control each muscle, with some extra processing power for each muscle.
The first step is the brain makes a "map" of the terrain in front of it, what speed it is going at and then where it needs to step for that speed or terrain. I watched a Jim Keller interview with Lex Fridman and Keller said that this sort of distance measurement was trivial. In other words using two eyes you can tell where something is like the floor and how far away. He should know, he's a legend at AMD and Tesla, designing chips for...everything. So let's take his word for this, (yes there are likely to be complications but let's ignore for now). We will assume finding a place to step for the waifu is not big deal. A simple table of sorts could be built up of how far a step is depending on speed it wants to go and using that it maps where a good place to step is.
So now we have that, then, we need a vector to this place. Now a leg, thigh, foot, movement is going to be constrained to how they can bend so if the brain sends a start moving vector(a angle for the foot to move AND a velocity), a end point to go to, then this set of vectors from the brain could be interpreted by ALL the muscles in the leg. Each one knows that to move here or there, it must act in a certain way. So with this one vector based on, move this way x, this way Y and this way Z, plus a speed, plus the end point, each muscle can work on its on to add up to this end point. So you have,
(Each 2 bytes(16 bits) giving us 65,536 different values or postions)
A starting direction for foot movement, x,y and z. If you need to step over something it will have a high value for "Y". It will pick the foot up high.(6 bytes)
A velocity point for x,y and z, how fast to move(two bytes x, two bytes Y and two bytes z) (6 bytes)
End point (two bytes x, two bytes Y and two bytes z) (6 bytes)
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