One little step at a time.... I feel like the Monks that make the Mandela with one grain of sand at a time
I know the engineers would say..."Man, why don't you just measure everything, put it in Excel, and let it go???" The only reply I have, is "Hey... look at this drawing, its just cool, visually, it is just cool." Anyway, the motor can't be designed until I know how much fluid is moving around. You can see here that I have the net piston motion for just 2 events. Left foot eversion Stance 03 moving to Stance 04, and Left foot eversion Stance 04 moving to Stance 05. Just add all those net motions up, calculate what that volume is, and you have the fluid flow for Left foot eversion from all the Stances from Stance 03 to Stance 22. It'll take awhile, but I'll get all these data points. I do have another motive, I think if you line up all those sets of piston motions and just contemplate them, that the way to write an algorithm to (continuously) adjust their motions to keep the robot (continuously) balanced will just reveal itself. And, anyway, I still have this intuition that when I finally get all the piston motions lined up and in place, well.... its a cool image.