That's awesome! I love the K9 dog - with all the laser cut and 3D printed stuff now it seems rare to see some nice aluminium brackets, big motors and lead acid batteries :)
The idea of pre-training a neural net and then running that is really clever though. I didn't realise anything like Synapic.js existed. It's seems like a fantastic tool if you've got the right problem (like your sensors!).
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