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

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

- for each branch, simulate moving the robot's center of mass along a
planned path.
  - if an extreme of a joint is reached, stop the branch. a further
step is needed to get there
  - if the robot will fall, stop the branch. a further step is needed here, too

further cognition around this is needed for success: we need to place
a second step.
however, given it's been many years, this seems like enough
comprehension of the algorithm to begin implementing it.
implementation needed more than further planning, for result.