The best way to walk???

Hello everyone I am working on a self transformable robot with 20 servos almost like the one below: [www.youtube.com/watch?v=6tD3dsDzbeg] I wish to make it walking but the method adopted in this video is a bit complicated. I have gone through several methods available online but am unable to decide which one is best for my robot?? Please let me know if anyone has some idea about it.

Thanks.

Please do not cross post -> Using Arduino / Programming Questions / How can I control the speed of my servos??

It wastes time and forum resources, so remove one of the threads. Thank you.

Okay I am sorry for this mistake. I thought that the topic was different so i must ask in another post. Thanks for telling.

No need to apologize, it seemed to me the topics were (too) much related.

If you modify hobby servos to send positional feedback you can use something like Pypose or RoboPlus to capture servo positions to build walking sequences.

http://forums.trossenrobotics.com/tutorials/how-to-diy-128/get-position-feedback-from-a-standard-hobby-servo-3279/

You can also use intelligent servos like Dynamixels or HerkuleX that have positional feedback built in.