DIY amateur servo quadruple robot

Cheap 3D prints 4 foot robots seem to be almost like Boston motivational scenes, but motion like newborn babies. I am a physics undergraduate, which is very bored to solve the paper problem, so I decided to solve and apply the problems in the real world, so I started this robot project, the purpose is to introduce self-introduction to control theory, study their math and practice spelling . It operates as a brain in the Raspberry Favorite, and there is an Arduino Mega for reading / writing a signal of 12 business servo and iMu controlled by PS3 Dualshock. Summarize: I mainly use Python3 and some typical libraries to write this code, and currently implement walking loops in the motion model, so you can command the physical posture, the position of the foot, and the direct command of the speed and walk loop. Controlled by the PS3 controller. Arduino is used to accelerate signal read and write, so I can add other sensors and location feedback ... This communication is based on the two-way serial command, so servo pulse is sent to Raspberry on the Arduino and angle IMU. The PI is included.

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