In 2020, I designed a bipedal robot featuring my custom made QDD actuator, SpryDrive. Compare the “chickenwalker” design to Agility Robotics’ Cassie, as well as the Blackbird bipedal robot.
Next, I wrote a control and simulation stack for the robot in Python based on the floating body controller used for the MIT Mini Cheetah. There are many flaws with both the code and the design, but it was an excellent learning experience.
Related blog posts can be found here