Iv found an interesting video…
5 Degrees of fredom on each leg,
This allows for more true insect movement, with the following joints:
http://www.picstuff.com/image/cache/data/Robot/insect-leg-structure-500x500.jpg
Coxa (1st DOF)
Trochanter (2nd DOF)
Femur (3rd DOF)
Tibia (4th DOF)
Tarsus (5th DOF)
Hi Jonny,
The trochanter could be better solved with a LPA-01 between the coxa and femur bracket. Similar to this (posted by Sienna):
Another 5 DOF example, also CG: