Today i worked on a couple of things to improve Felix’s walk cycle.
I tweaked the servos offsets to get a more precise placement of the feet. I fixed Felix to the new stand and used a square ruler to get the alignment as god as possible.

Then base on the suggestion by one of the god people at http://letsmakerobots.com, Felix is now leaning to the opposite side of the leg being lifted for every step he takes.

Last but not least he got some socks to get better traction.