NyBoard, an Arduino compatible motion controller, can be used for Arduino and IoT programming, and design whatever robotic pet or creature you like. Learn from OpenCat, connect the board, and create your own legged robot pets!

Features:

drive at least 12 PWM servos. Developers and engineers can use it on multi-degree-of-freedom (MDOF) robots.
an IMU (Inertial Measurement Unit) is used for detecting body status (orientation and acceleration) to balance
Infrared
four sockets for external Arduino modules.
Raspberry Pi support - the board also provides a 2×5 socket on NyBoard V1 for mounting Raspberry Pi. The Pi gives Bittle the ability to analyze more sensory data, connect to the Internet, and make decisions by itself. The board best fits Pi Zero and Pi 3A+. For larger Pi models, you will need to tilt the Pi and 3D print some supporting structures.
Possible connectivity support

Bluetooth
WiFi

Example applications:

Petoi's open source quadruped robotics kit Bittle fully utilizes NyBoard to coordinate sophisticated motions

The source code is open-source on GitHub with a detailed user manual.

Specifications:

Controller board: NyBoard V1
CPU: ATMega328PA
External EEPROM: 64Kbit
IMU (Inertial Measurement Unit): 6-Axis MPU6050
PWM channels: 16（driving up to 16 PWM servos）
Grove: 4
RGB LED (NeoPixel): 7
Built-in connectivity & features: serial UART, I2C network, infrared receiver, buzzer
Bluetooth/WiFi connectivity: Official dongles
Raspberry Pi support: via a built-in 2x5 socket