There's more to it than just that. There's no way that just moving to predefined limb positions would be stable. You can't script an unstable system without fe

There's more to it than just that. There's no way that just moving to predefined limb positions would be stable. You can't script an unstable system without feedback. Any tiny perturbation would cause the robot to fall over. You need to actively control the system to counteract the instability. So there will be some (scripted) goals, and a very complicated control algorithm that tries to reach the goals without falling over.