the simple gaits are usually PIDs that integrate requested control directions and gyro data, bounded by maximum servo speed. here's an informative youtube vide

the simple gaits are usually PIDs that integrate requested control directions and gyro data, bounded by maximum servo speed. here's an informative youtube video that's all about quadrupedal dog-style robots.[0] fancier gaits integrate elements that measure leg length and foot pressures. [0]: https://www.youtube.com/watch?v=4MGZvcd0xxc https://www.youtube.com/watch?v=4MGZvcd0xxc