After a few attempts I could finally optimize Bittle behaviour to achieve a smooth 'climbing' process. In fact the behavior is already available into BittleInstict.h, but depending on the size, tolerances of the steel structure fine adjustments of the servo motor angle for each frame are required. I found it challenging, but definitely worth the effort, especially for the involved process extending the control understanding. Finally the newly available feature User Interface with OpenCat2.0 makes the full process by far easier to execute. Hereafter links to the preparation and process description and video:
-Github repo: https://github.com/GabriIT/bittle/tree/ui
Many thanks to Prof.Li for the kind support!