Danbot is a simple bipedal robot which has 4 servo motors.
http://www.robotsfx.com/robot/Danbot.html
His walking motion made by the maker is very cute, but a little angular, isn’t it?
https://www.youtube.com/watch?v=3GAOlukkY4c
I wrote 2 Visuino sketches to him for a little more smooth walking and WiFi remote control.
Danbot has 2 ankle joints and 2 hip joints.
Each joint is driven by several sine generators.
Walking foward, hip sine wave must lead 90 degree to the ankle’s.
Visuino is the vest tool to describe the above case.
reffrence:
ESP8266 & GPIO-Extend (modification of power line is required)
http://www.smartarduino.com/2wd-wifi-rc-smart-car-with-nodemcu-shield-for-esp-12e_p94572.html
WiiNunchuck adapter board
https://www.switch-science.com/catalog/221/