Corvis (temp bot name) rough ideas.

[craig_colliass]

Pilgrim is the one walking round town. it is based on the Theo system but with some changes the obvious one is it has 8 legs Theo has minimum of 12 so the gait had to be re-designed big time, can't go into it now.
yes the Klaan system for the Spiderbot I don't like the gait as much as Pilgrim as it tends to bounce the robot when Spiderbot walks fast.

[Bacon Wizard]

I don't see how you say yours don't have 2 degrees of freedom. They do! back and forward vs up and down. But my understanding is that using a rotary action to drive them is no longer counted as true walking.

This is the only pic of Anarchy's drive train I could find. Its tiny, but can see quite well how it works.

Scuttle_Side.png