As I have gone and made progress, the community has as well. Members of the community have gotten there robots walking with basic functionality. As I progress I will be using their work as an example and valuable resource. This is a link to a github of a member of the community that has made incredible progress. I will be basing much of my work off of this and others. The community has been using this paper to help with walk cycle. This is the link to the general gitlab of the community which is immensely helpful.