It's very similar in construction all though lots of people
www.lynxmotion - follow the "basic" outline. I've also been talking with Matt Denton, the creator of ther ic hexapod about different aspects of the machine.
Mine deviates from the other designs in that the different components (femur, tibia) have automatic feedback for compliance etc. Probably the most significant difference is the electronics. If you look at the machines such as the ic hexapod and the lynxmotion they use a multi-channel servo controller and "canned" walking routines with some "intelligence" on board. They are usually either tethered to a laptop or linked via rf as the "brain".. Mine uses a model of an insect in which the seperate components such as leg control are controlled via individual microcontrollers (upwards of 20) and an algorithm based on "learning" to walk using inverse kinetics and goals. Just as an insect the "body" can survive without a "brain". The brain is responsible for higher level tasks such as the vision system, collision aviodance etc. This is all onboard - no tethers to a PC other than monitoring.
I'm almost done the mechanical design and will begin fabrication. All the components are cut using waterjet with post machining and anodizing.
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