Congratulations! You've made it to the final week. It's now time put your walking gaits to the test and make any necessary adjustments/corrections.

1. Attach your biped to the circular boom; this will restrict your robot to planar motion. Execute your full walking gait over the course of 15 gait cycles. Make any adjustments/corrections such that it walks autonomously (ie. no helping hands) without falling over.

Please generate:

A demonstration (either live or via video recording) of your biped robot (attached to the boom) executing all 15 cycles of your gait without falling over.