Now that you have a legged platform and a servo motor controller, you are ready to make your projects walk! Before you begin, you'll need some background on servo motors. Servo motors are somewhat similar to DC motors. However, there is an important difference: while DC motors are generally designed to move in a continuous way, rotating 360 degrees and at a given speed, servos are generally designed to move in a limited set of angles. In other words, in the DC motor world, you generally want your motors to spin with a continuous rotation speed that you control, while in the servo world, you want your motor to move to a specific position that you control.
To make your project walk, you first need to connect the BeagleBone Blue to the four servos. Here is a picture of our two-legged robot and the four different servo connections...
