Currently work on a walker design losely based on lynxmotions 4 leg walker. I started with their foot, and general idea for how the leg could bend. But from there, I've re-designed the leg and body for the application I need and because I can't affor their beutiful robots.
If you goto my link to my rocotics page, you will see the three designs i am playing with. of course I am still tinkering around with a cat chaser because, thats just fun. If I caould make a terrorist tracker mayby I could get a good contract job (wink).