Open duck mini stable walk

Hi, I'm new to robotics and I'm having a wonderful time building the Open Duck Mini.

I've run into an issue getting it to walk forward. I swapped the 7.4V 19kg STS3215 motors in the knees for their 12V 30kg counterparts, which stopped the duck from falling over. However, the right leg isn't generating enough foot clearance to walk properly, as shown in the attached video.

Any advice on how to fix this? And thanks again for bringing the Open Duck to life!

https://github.com/user-attachments/assets/65ee1965-b05f-411d-8409-b80a8c8bf355