Here’s a great tutorial on how to make a tiny hexapod walker. While this was written specifically for a kit that is sold by pololu, we like the simple layout. You could implement your own electronics if you prefer something else. If you want to follow along with their components, you’ll end up with a fairly small and decently agile hexapod. Sure the legs aren’t articulated at every joint, but the effect is workable. This is probably the first 3 servo walking hexapod we’ve encountered and we’ve seen a pretty decent amount of hexapods.