Here is something I found out the other day; the inventor, currently a PhD student used ‘Optical Flow’ which is a technique that incorporates using a camera to compare one picture to the next and then using some intricate algorithms for the servos (AX-12s) to move to the required position (within boundaries I presume). Uses a desktop sized Intel Processor (around 1.5 GHz if I’m not mistaken)
Amazing, no 
Matts hexapod is one of my favourites. All made using a 3D printer.
Intel asked him to build two hexapod robots to promote their Atom processor at trade shows and other engineering meetings.
I believe he now works for Intel. 8)
You reckon? Last time I saw a video in which he was commencing his PhD at Arizona, infact this hexapod project attracted the DARPA funding for the cheetah project, below. Perhaps he worked on it! Anyway, quality stuff