I run a bit out of steam while tinkering with the gaits. The write/compile/upload/test cycle on the Arduino took some of the fun out of it. For the new leg I have to rewrite the IK and control to accommodate the new servo’s setup. So instead of doing this as Arduino sketches, I decided to give NodeBots (http://nodebots.io) and Johnny-Five (https://github.com/rwaldron/johnny-five) a try.
Furthermore Johnny-Five have an Animation module (https://github.com/rwaldron/johnny-five/wiki/Animation) that looks like a perfect fit for managing Felix’s walking cycles.