Balancing on One Leg

I modified Keith Code to operate the 12 degrees of freedom in the legs. I was playing around with the robot to find its stability when standing on one foot. I was successful on getting to shift and stand as you can see in the video. It became apparent that Keith's method of coding was not good for expanding, the code got very large and messy. I also had to do all the code heavy lifting by hand, this needed to be changed to be generated on the fly.