It's been a while since I posted an update on what progress I'm making, so I figured I should mention what I'm doing.
I've been working on updating the tail for the Quad, which would also be used for the biped...which I'm hoping to use for some other things as well, if everything goes right. I started with several possible directions that are starting to combine into a multiple control setup. It still has a lot of evolving to do before it gets to the point where I can get opinions, but I'm starting to get some things that I think could be useful.
I'm going through an extreme lack of free time lately, so it's not moving as fast as I'd like, but I'm still trudging forward a little at a time.