Gordon McComb has a rather good design for a large scale, six legged walking
robot in his book, "The Robot Builder's Bonanza". I'm sure you could use it
as inspiration for your own designs. Its only flaw is a tendency to lurch
if the motors get out of synchronisation, when it turns, for example - I'm
currently reaching the final stages of modifying the mechanical design and
building a dedicated computer controller to solve the problem - when I
finish, and if it actually works, I'll try to post details on how to make
the modifications. The machine works well on relatively flat surfaces, but
you might need to modify it further to make its legs lift high enough to
clear larger obstructions. I have a design to do that too, but that's a
really massive project with some very tricky machining of cams and bearings,
and not a priority at the moment, unless I decide to use the thing
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