An Arduino Compatible Hexapod
I had a chance to build the iitsii Robugtix hexapod and took some time to play with BigFoot Inverse Kinematics engine that comes with the platform. The engine really simplifies the gait management with the six legged platform. The build was easy, even though you have to manually position 18 servo motors by hand, also I found high quality NEMA 8 stepper motors from GEMS. The documentation is great and includes a serial command reference if you want to do some arduino interfacing work.