From my perspective, BigDog appears to lift up both his BL (back left leg) and FR (front right leg) at the same time and the other 2 legs (the BR (back right leg) and FL (front right leg)) pushes the body a little forward. After that, the BL and the FR is placed on the ground and the BR and FL is lifted up. The BL and FR pushes the body a little forward and than the BR and FL is placed on the ground. After this the cycle repeats.
How this manages to balance BigDog is by having his 2 legs that are on the ground to hold him up momentarily to move forward. After that BigDog places his other 2 legs on the ground to help him stabilize again.
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