Kinematics of forward movement

[oditynet]

Good day. I am building my robot dog according to your project, and I am writing the code from scratch.

1. Can you tell me what algorithm for the movement of the paws when walking forward you have chosen? I cannot find it in your code. I have tried 2 options (1x3 and 2x2) for the movement of the paws and in both cases my robot walks crookedly and falls on its hind legs. For example 1x3 move https://www.youtube.com/watch?v=mQxsRPMqdXE .Can you share articles about the movements of the paws or articles? I can send you a video of it walking. Maybe you can use it to find an error in the component balance or other problems.
   https://www.youtube.com/watch?v=ztCE2fqSIxo In this video, the trajectory of movement is very smooth and even and I am trying to find an algorithm for my robot to walk the same way.
2. Tell me the logic of data transmission from the remote control to the robot. I use the NRF24L01 antenna and the data is received on the robot with a lot of noise, although I transmit only X and Y coordinates. I saw that you use ACK confirmation after sending. Does this help you troubleshoot the communication channel or is there something else?

Thanks in advance.