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Final edit 9th November 2016: I think that I with the current code have achieved the goals of this robot. It moves fairly stable and predictable, see the second video, and I will bring these experiences with me to the next evolution of this concept. Edit: Added a second video with updated walking gaits. The idea from the beginning: Build a miniature version of my KITtyBot out of a breadboard and using the servo horns only. It is all powered by a small Arduino card (Pro Mini and Adafruit's Pro Trinket ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/kittybot-mini