Is that a custom bracket job, or did you purchase it from somewhere?
Our first work was with wooden brackets, because we could manufacture then with the band saw and a drill. They simply bolted to the servo horns. But this puts all of the side load on the output shaft of the servo. The commercial brackets mount the servo in a frame that has a bearing on the bottom. The bracket engages both the servo horn on one side and the bearing on the other, making the joint much stronger. The down side is cost.
Any way you could speed it up to chase people?
Certainly it can walk faster. The entire step cycle is 4 seconds. I think that the step cycle can be reduced down to a half second or so. That would be 8 times faster. We will do testing to see how fast it can go without loosing accuracy on the step smoothness.
Could you share the code?
Absolutely. I have to clean up the code a bit, and put in some explanation for what the various elements are there for. I did modify the servo library to handle servo reversing and servo trim. I will include those files. They are from the 0017 version of the IDE. I have not tested them with 0018. The servo library did change some, and I have not merged my changes into the 0018 version of the library yet.
What components are you using? I got the Phoenix chassis, somewhat ant like. There are also radial chassis. My code is written for the ant version, but would work with the radial model with the legs pointed out sideways like a crab.
So far, we only walk forward. But we have constructed the various functions with hooks to hang future functionality on, like RC direction and speed control, rotational movement, translational movement (mix of forward and sideways movement with the orientation remaining the same), and turning.