Ok this is mainly impulse and I hav never heald an ses part so correct me if i am wrong about something (which I am). Ok couldn’t u make a chassis using 1 ahc-01 on an end mated to a 3.0 inch tube thru an hub-08 connected to another ahc-01 mated to another etc. until u had 3 ahc-01s then u just take six 1.5 in tubes and attach them to the sides and on the ends uf thoses attach a C bracket laying down. and to that attach something like the last “shin” segment of the 3dof leg so that the servos would move the tube foot up and down with no side to side motion?? it would walk sideways almost like a crab in an alternating trypod gait with the servos moving underneath and out from under the main chassis area. unfortunately I hav not thought about an electronics platform yet still open to suggestion on all of this by the way. thanx in advance for input I hope i have finally contributed something really usefull to the forum for once. 
so excited!! :almost wets self: lol
Pretty good explanation, but it won’t work. There is no way to lift any of the legs. You only have for and aft movement. 
Darn… oh well (breaks into song) another one bites the dust!!!