While I think this a great design, it's nothing new or creative. This is a common hexapod design like any you'd see on the market. At this point in time, I'm not terribly enthusiastic about hardware design; I'm mostly interested in the AI that runs it. What I need in hardware is straight-forward design, reliability, durability and the the fewest possible headaches. I decided to go with a common design like this, with the notion that if so many people imitate it, it's probably good.

Figure 1. The bottom panel, used to attach the six leg units. Each of the six holes will support each leg unit's pivot joint.

Figure 2. The top panel, used to attach the six leg units and control and sensor hardware. The three-hole sets are for attaching the servo horns.

Figure 3. A view of the top and bottom panel designs that describe each leg unit's range of motion.