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Similar to the Pololu 3-servo hexapod, except I made my own PCB, built my own IR sensor system, and wrote my own code including hardware Timer1/interrupt assisted servo pulse control. Code and PCB layout here: http://forum.arduino.cc/index.php?topic=199120.0
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/attiny84-3-servo-hexapod