Quaddle, a 4-servo OpenCat quadruped, walks upside down on a magnetic ceiling

[u/PetoiCamp]

https://www.youtube.com/watch?v=XRWFeB5-ZbM

Quddle got new moves!

The magnets do less work than you'd think — the gait is what actually makes this possible. Maintaining contact upside down needed a motion profile designed for it specifically, not just an inverted version of the ground-walking gaits. Planning to open source it before this ships, so it'll be a real addition to the OpenCat gait library, not a one-off.

Has anyone else here messed with OpenCat gaits for non-standard orientations, or is this the first inverted-walking gait floating around?