Nice assembly. What happens when it walks on carpet?
I'm still learning about building quads but I think that in general I don't really like these crab style legs for a quad. It seems like for quads and for bipeds a better design is to have the legs move mostly on one plane underneath the robot like a horse or a dog. Anyway, I keep experimenting with code and calibration so hopefully I will learn to do this better.
Why do you think that method is better? For forward movement? It's definitely worse for turning movements, from what I've seen.
To get your quad moving forward faster, you probably need a different foot design instead of the single point of contact that each foot currently has on your bot.