I have build up a doggo。 Calibration leg downward movement,next leg turn horizontal。Next send command set parameter：h 0.15，d 0.05，u 0.05，p 0.35，l 0.1，f 1.5，s 0.0；the parameter set successful。Then put doggo on the floor,leg can't stand horizontal。Next send W command let doggo walk，but Doggo fall down can‘t stand up。
I have build up a doggo。 Calibration leg downward movement,next leg turn horizontal。Next send command set parameter：h 0.15，d 0.05，u 0.05，p 0.35，l 0.1，f 1.5，s 0.0；the parameter set successful。Then put doggo on the floor,leg can't stand horizontal。Next send W command let doggo walk，but Doggo fall down can‘t stand up。