Looking at making a quadruped or hexapod and not sure about the best config for the legs. I've made a quadruped before with 3 servers per leg didn't seem to gain much from the extra flexability.
So wanting to see what others think and see where it goes
I would go with two per leg
See the late great Lumi’s Chopstick Jr.
re: Jointed Legs
I think it depends on the configuration.
If you are doing a quad but laying it out like a cat, dog, or other 4 legged mammal, then the conventional wisdom is you need 3DOF for each leg in order to balance, like Google’s Big Dog. My personal favorite here on LMR is:
https://www.robotshop.com/letsmakerobots/node/42518
If you are doing more of a bug / spider layout, then that is different and 2DOF can work fine I suppose, depending on what you are trying to do with it. There are many examples on LMR. I haven’t personally built either configuration, so don’t take anything I have to say too seriously. My only legged bot was a biped.
