Today I ordered aluminum brackets for my leg assembly, which will have 3 degrees of freedom. I have been working on writing 3 different sequencing programs to decide which layout and design makes it easier for me to develope locomotion sequences. I'm waiting on the legs to get here to cut out the body. I have also been testing motion sequences with the two prototype legs held up with wheels in the front and back. I have studied the gait of dogs and horses so far and plan to study the movement of spiders and insects as well. Spidar