Hello. I am trying to make my brat walks but it is really difficult for me. It goes down, i don’t know what servos move in the exactly time, it make strange movements… Conclusion, i can’t make my Brat walking.
I think there is a walking movement trajectory, but i don’t know what angles should i put in my servos and when to put them.
I want anithing like this:
Start with the six servos in this position: 0º 0º 0º 0º 0º 0º
Then move servos to the moment 1) 10º 0º -15º 30º …
Then move them to the moment 2) 0º 5º…
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I think someone have the trajectory in an excel document, if you can share it will be nice 
I wish you are undesrtanding me, as you can see my english is not very good 