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

- for each branch, simulate moving the robot's center of mass along a planned path. - if an extreme of a joint is reached, stop the branch. a further step is needed to get there - if the robot will fall, stop the branch. a further step is needed here, too further cognition around this is needed for success: we need to place a second step. however, given it's been many years, this seems like enough comprehension of the algorithm to begin implementing it. implementation needed more than further planning, for result.