Linear Actuator 4-Legged Walker

I really wanted to see how useful LEGO linear actuators are, so I decided to take the exact same body structure of my last 4-legged walker ( 4 Legged Walker (version 3) ) and added the linear actuators for rising and lowering the legs. This results in a much, much simpler mechanism compared to the previous one. But it comes at the cost of having to use more motors, since it is hard to reuse the same motor for two linear actuators due to the weird angles they end up being in the robot.

Here's some pictures comparing the new linear actuator version (black) with the old (yellow):

For the construction, I used 2 XL power functions motors for moving legs forwards and backwards, and 4 M power functions motors for controlling the 4 linear actuators that rise and lower the legs. Here is a close up of one linear actuator in a leg:

The resulting robot is more robust than the previous version that didn't use linear actuator. This is because I've reduced the number of gears used in the robot to only 26, thus minimizing the possibility of gears jumping. Now the robot is strong enough to lift itself with 2 legs without problems. However, the robot still has a problem now. Because the way the legs are built (reusing the previous walker structure), linear actuators do not exert force towards the whole feet, but only towards the outer-most part of the feet. This means that the inner-most part of the feet cannot support the robot's weight. Thus, the robot swings left to right when it walks (as can be seen in the video below). My next step is to try fix the leg structure to better fit linear actuators.

Here you can see some more pictures of the robot:

And here you can see a video of it walking (it looks very nice if played at x4 or x8 speed ;)):

Well, now back to the design board to see if I can improve those legs. And also, I recently purchased a Firgelli linear actuator for NXT. Let's see if I can put it to good use ;)