The problem is that the system currently doesn't implement a translation estimation, take a look here: https://forum.chordata.cc/d/171-displacement-of-x-y
What you see in this video is the base bone fixed in a X-Y position in space, while the feet displace.
The hardware aspect is a completely different question. The translation estimation will be available regardless of the hardware you are using.
With that said, we are working in a new revision of the DIY hardware that will incorporate many of the features we added to the ++ version. In this new revision why might change the IMU sensor because of the current difficulties in finding supplies of the LSM9DS1, see here: https://forum.chordata.cc/d/154-source-for-the-lsm9ds1-chip/8
So if you already have the components a good option would be to build the mini version of the hardware created by @valor with the new Hub as HAT created by @ShiroSaki