I am starting a robot build using an arduino board. It will have 4 legs with knee joints that end in wheels. Each wheel will have forward/reverse movement and will turn both directions to steer. The result will be a wheeled robot that can dance.
Please provide advice on what type of motors or shields to use. I believe servos might work best for the knees. DC motors for the wheels and stepper motors for steering might help reduce costs. Any thoughts?