Thanks for your response. I'll call 1 & 2 resolved. But I don't think we're understanding each other on 3.
On the pitch axis, it balances appropriately. If the ground is higher on the rear, Nybble bends its hind legs and extends its front legs to try and level the body.
This is what it does in the roll axis. When the left leg is raised, it extends the left and bends the right, so if the left is raised a little more, it falls over.
This is what I thought it should do: If the left leg is raised, it should bend its left legs and extend its right to keep the body level. I can't figure out how to do this so it's powered off and staged in the photo below.
