In effort to create an improved quadrupedal robot with dynamic gait, I have created a series elastic servo actuator. I used a 12 pin polulu meastro servo controller with this project since it has velocity and acceleration control. An explanation as to how this actuator works can be found in the YouTue video below.
This project was inspired by:
James Bruton's Mini Robot Dog: https://hackaday.com/2020/03/22/compliant-quadruped-legs-using-servos/