Racky
 
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.
Photo Gallery
How I Built Racky (pdf)
Leg Design (pdf drawing) 
Drive Train1 (pdf drawing)
Racky, unskinned  (YouTube Video)