After a breakthrough in robot motion technology, our nao’s can turn in place at an astounding rate of 16 degrees-per-second. The aibos probably turn at least 10 times that fast. Eventually we will run machine learning on the gait to get a faster one, but this one is pretty good.
The key to having a stable turn is to be able to widen the angle between the legs and take one step with wide legs, and then a step which restores them to normal. The only joint on the Nao which can widen this angle is the HipYawPitch, so you need to compensate for it’s use with the other Hip joints.
See the video here.