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This is based on fritsl's "Biped walker with 3 servos (Dead Duck Walking)", https://www.robotshop.com/letsmakerobots/node/29379. I am familiar with Arduino/AVR rather than PICAxe, so I adapted the code to that. I set out to use an AtTiny 8 pin DIP, but it was easier to use the Servo library as-is with an AtMega328p. I may go back to the AtTiny when/if I move the circuit off the breadboard. Note that I didn't actually use a full Arduino board, but I did use their IDE and Servo library, and ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/biped-walker-with-3-servos-arduino-version