All four inner limbs move as one set and all four outer limbs as the other. Each set has a push servo (forward/back stroke) and a lift servo (up/down), MG996R. The sets take turns: one is planted and pushes back while the other lifts, moves forward and lands, with a short overlap when all 8 feet are down. Foot path: lift, push forward, lower, push back. Steering: one extra servo turns the front legs left or right (front yaw); the rear legs keep pushing straight, so the robot drives a curve like a car with front-wheel steering.
3D view
Inner setOuter setFilled foot = planted
Path from above
Settings
Gait timing
Servos
5 × MG996R. Channels are placeholders until the build is wired. 90° = the stand pose: set at x = 0, feet on the ground, front legs straight. Push angle = 90° + asin(x ÷ horn radius), lift angle = 90° + asin(z ÷ horn radius), front steer angle = 90° + steer. Load: the lift servo of the planted set holds the whole robot.