OK, I have a body for a hexapod robot that I want to make and control with a picaxe 28x1. for now, all i want it to do is go forward. The two middle legs will be connected to servo 1 which will move one leg down and the other up. therefore one side ( with the middle leg down ) will be up and the other will be down. the side that is down will move the outer two legs back causing the robot to go diagonally forward. the side that is up will move its outer legs forward to prepare to move back. then the side's up&down status switches and they do each others jobs (back&forward) and then the cycle repeats. I need help finding which servo motors to use to control the middle lifter legs, and the outer movement legs. I haven't taken physics yet, and don't know much about torque. any help is appreciated, Thanks ![Smile :) :)](data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7)