well, i just made a cardboard mini-mock-up of the robot, which is limited to 137kg, not to 200 as i first thought (argh). and the mock-up took about 90 mins to make and is _extremely_ useful.

i now have something to be able to guage whether the design is practical, whether i can shorten the legs to save weight (and thence get bigger motors, and maybe even some 4QD controllers for them!)