Re: [spam][spam][spam] walking robot algorithm parts

note: - when trying to lift feet, this can only be done if the resulting convex support polygon still includes the center of mass. otherwise the foot is holding unique weight. - if the foot will not be holding unique weight, it makes sense to immediately lift it, so as to place it somewhere needed sooner - when bounds are reached we know what areas need new coverage with the support polygon it was supposed to work with an arbitrary number of legs which i find/found cool. undetermined areas could use a heuristic or look farther along possible path planning to decide where to go