As expected, sideways stability is the biggest problem with the current design, so I plan to double up the lower leg and inner connecting piece later.
The controller is an ESP32 programmed with the Arduino Framework. It opens a wifi access point and provides a bare-bones “website” as a means to control it via the phone. And yes, it can totally walk curves by driving the two halves at different speeds.
Code and Fusion360 export is on my github page.