That looks about like the best small walking demo I have seen (except for Boston Dynamics mini bots)

It's fast .. faster than your regular servo.. still looks like servo like motors & rigid connectors.

Looks very good.. smooth..  I'd still like to see something which utilized non-rigid connections (springs) .. the training/software would be more complex but I think it could be done well too..

Thanks for the post Adolph - Would like to see Baby-InMoov move like this !