Script updated.
It introduce adaptive movement.
By adaptive movement I mean:
1) Walker lean in the direction of acceleration (start/stop movement).
2) Walker manage leg speed automatically. Before here was commands speed+ and speed-.
With update walker increase speed if everything ok and slow down if "feel" that something is wrong and walker can't reach estimated speed.
3) Walker adjust leg position to balance on slopes (martian hills for example). It mean that center of mass will be between legs on slopes and walker won't tend to turn over. As side effect - the load is distributed better among the legs.
As result :
1) No more need to manage speed manually.
2) Walkers climb over the hills much better.