Rune wrote:

> "Greg M. Johnson" wrote:
> > Foot slips at end of cycle.  This is perhaps biggest defect.
>
> I noticed that. I think it's just a spline segment that is not 100% linear;
> it shouldn't be too difficult to fix.

So far, I haven't been able to find a good spline-based solution for the motion
of my foot, as you appear here to have found as well: either the foot moves in
a perfectly straight triangle (my case) or it behaves strangely in the
transition (your case, my earlier cases).

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