This code is the last version that runs on the raspberry pi, for the simulation code that runs on PC and implements a PyBullet simulation, check the old branch (V1_PCsimulation).
Working on python3
-numpy, csv , evdev , pyserial and simple-pid needed to run the robot.
You can also run its telemetry.
-Pandas and matplotlib needed.
All the info at: https://hackaday.io/project/171456-diy-hobby-servos-quadruped-robot
Here is a simple diagram of how the robot is working: