Hi there @ciocoiupetrisor and Welcome Back to the Community…
I have moved your new topic here to address related issues, such as shaking, not walking straight, as well as concerns about the legs and feet.
Consider creating a video and submitting it to living.ai support via email at service@living.ai. Include your EMO ID. You might need the Foot Re-Calibration tools or even change the Servo Motor to correct his leg shaking issue.
Goodluck and All the best