This is an update on my robotics project, I had some issues with the ne Adafruit I2C driver so I'm hopping it's fully functional for next week. Mainly the problems were about power consumption and Software. The thing is the Adafruit driver limits the voltage and the current going to the servos, so the power it's ok for a hexapod but not as well for a bipedal robot. The solution was to use the arms with the adafruit driver, and the legs with the DFRobot IO Expansion Shield. Still some Software problem is not letting me initialize the driver. Here are some videos from the test I performed.