LEGO Mindstorms 51515 - Compact Quadruped Walker (4 Directions + Turning)

Inspired by an old clip of a small Lego Technic Hexapod with very smooth movement published by @vanTim100 in 2010, i tried to create a very compact but at the same time 4 motor driven quadruped walking base for Mindstorms 51515. It walks in all four directions and turns left/right on the spot and you can also create more moves, like tilting (two legs up and two legs down) or just moving a single leg, because every leg is driven by its own servo-motor controlled by the hub. Inspiration: (there is more very nice stuff on his channel!) I think it turned out very well, maybe you like it, too! :) HOW TO BUILD THE NEW VERSION: