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Hi fwilk,
I working in the same project. I use 35kg-cm servos with PCA9685 and modified the STL files. Im modifying the hardware with the Teensy 3.2. I programmed the gait and different stance using a paper of reference for to calculate the xyz coordinate in the walk. I use a 8.4v battery (2s2p with 18650 battery). I hope end this first step for to test my robot. I simulated part of de calculus in Simulink