[spam][spam][spam] walking robot algorithm parts

[Undescribed Horrific Abuse, One Victim & Survivor of Many]

the algorithm concept might start with 2 basic concepts:

- if the center of mass projected onto the ground plane is within the
convex polygon defined by all the touchpoints of the feet, the robot
has no torque applied to it from gravity. otherwise, it has a torque
about the edge of that polygon closest to its center of mass, pulling
it downward.

- there are multiple strategies for moving the robot's center of mass
along a path, and these strategies are limited by the order in which
the feet are lifted. given diverse situations, it's sensical to
consider multiple options for which foot to lift first, and predict
how the robot's stability will be affected along the path, depending
on the foot lift and placement timing. (simple exploratoin of a
decision tree, like solving tictactoe).

looks like my confusion is mostly around outlining that simulation, so
that's where weird expressions are likely to develop around here.