Walking: Leveling foot parallel to the ground

[jaagut]

Is your feature request related to a problem? Please describe.

During walking, the heel or toe of the flying foot sometimes accidentally collides with the ground.

Describe the solution you'd like

Other teams like B-Human or Heroes seem to solve this by leveling the foot using IMU measurements.

Question: How to prevent the foot yielding too much resulting in a collapse?

• Possible solution: "Only level during swing-phase".
• Look how other teams solved this.

Describe alternatives you've considered