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ATAT like walking mechanism

I tried to do a walking mechanism that looks like an ATAT walking, it's working a little bit.
But i cannot figure how to:
- Set the wheels in to a pre set starting position
- Prevent single wheels getting out of rhythm
- Stop the "wobblyness" of the legs which is the main reason for failure.

Right now you have to time the start of the two sides and can go a few meters but thats it :).
If you have suggestions two solve these problems leave a comment ;)

(Don't judge my english i'm german :P )