Linear Actuator 4-Legged Walker (v2)

My previous attempt to create a 4-legged walker using linear actuators was kind of a failure, since the robot kept swinging back and forth. I've been working on a stronger structure for the legs, and here is the result:

The robot still uses two L PF motors, and four M PF motors, a rechargeable battery box and two infrared receivers. One linear actuator raises and lowers each leg, and each L motor rotates two legs.

The biggest change is that the strength applied by the linear actuators this time is properly distributed over the feet (in my previous version, the strength was applied to only one side of the feet). Also, I've strengthened the hinge that lets the legs rotate, since it used to bend when the robot lefted itself on only two legs. Here's a more detailed picture of the new leg construction:

But, as always, the best way to see how well it works is by showing a video (the loud noises you hear every once in a while are the linear actuators reaching their limits):

Since the robot is a bit slow, it's hard to appreciate if it walks well or not. So, here you can see the same video above, but 8x the speed:

My next project is to reduce the size of the construction. I've already a half constructed version which is about half the size of this one. Now I'm waiting for a small piece order to arrive for completing it :)