I've been working on a simple two-phase discontinuous gait to get Quadrup3D mobile. The gait has definitely been the toughest part of this project, particularly since I wasn't able to find many resources on quadrupedal gaits. In the video you can also see the custom stand I've designed to be able to hold Quadrup3D in the air which is great for testing gait motions!. If you have any experience with quadruped gaits, particularly with cheaper servos I would love to hear from you!