A little update:
I finalized the walk loop:
mulefa_walkloop_3g.mov
Then I decided to move to the next step: steering. To get both right and left turn, I made it follow a figure 8 shaped track. Because the zalif wobbles from side to side and up and down at every step, it's very hard to keep the wheels steady.
At first, I tried to make the wheels follow the center track (black on the attached image), and there was a lot of skidding. Then I realized that the front wheel, being so far forward, it would follow a wider arc than the body (it now follows the green line, the feet follow the red lines). There's still a bit of skid with the rear wheel. I'm trying to figure out what arc it would logically follow.
Here's the latest version:
mulefa_walk8loop_2f.mov
Eric