I have been watching all those hexapod videos on YouTube for a year or so. During that time I've noticed that all of those hexapods are very slow. Also, servos are really expensive. So, Why not use a DC motor from mobile/pager virbo?
Lemur and tibia are 60mm in length, each joint has 100° of freedom.
I'll use DC motors from old pagers, those are 7mm in diameter. Legs will be laser-cut from 2.5mm and 1mm stainless steel. I also use 3x7x2.5mm ball bearings. No sensors drawn yet.
Hope those motors will have enough power...
Any suggestions/comments are welcome.