Suggestion: Checkout Dingo open source robot dog #13
Description
Found this and thought you could use some of the techniques to further improve openDog. Especially the linkage for the legs. It seems to have better stability, control, and range of motion. Also seems to have better response. The Dingo isn't as long or strong, but I think that these techniques could vastly improve the operation of open dog. Also seems like they solved other issues as well.
https://www.youtube.com/watch?v=8KntOIgzUjY
https://github.com/Yerbert/DingoQuadruped
https://grabcad.com/library/dingo-robot-quadruped-2