Racky is the name I gave my latest robot, a six-legged hexopod walking spider robot. Yes, I know spiders have 8 legs not 6. I used a Joe Klann linkage for leg movement, modeling it first with wood and cardboard.
How I Built Racky (pdf)
Leg Design (pdf drawing)
Drive Train1 (pdf drawing)
Racky, unskinned (YouTube Video)
Art and Lit