Biped Lego Mindstorms NXT X 2 5 First testing on steps

My latest most advanced Lego Biped. Bi-directional leaning function for
weight shifting. This gives X-2, 3 dimensional walking ability: to be able
adjust up/down, Left to right, forward/back.

I happy with the results so far with X-2's leaning function's. Though it has been alot harder to plot compared to the older way X-2 did this with just shifting a mass side to side. Leaning at the ankles and hips brings in what I can best describe as the 3rd dimensional action. This also seems to change as angles change as well. So many little correction are going on at the same time. At times up to 8 motors are on call to stay in that "window of balance". This is a very basic program right now, once again just to prove concept and mechaical ability to do a task. Building this biped has been a work of years now(hard to believe), many failurs and designs that did not work or just not well. I have thoughts for improvments of this that may or may not improve, such is the way things go. Every change means checking again and reprogramming to see what changed.

So today X-2.5 has reached the point it has now climbed up steps. I have not even started the "can it go down steps" yet.