Here is a spider I have designed. I had also to design all the analog and digital electronic cards that controls electric motors. These cards are driven by an Apple ][ computer which is itself driven by an Amiga. The Apple is mainly devoted to control and execute motor position orders sent by the Amiga.

The main characteristics are a weight of more than 10Kg, 12 electric motors, 12 angular position sensors and 4 sensors. The material used have been found a bit everywhere... AU4G for legs, Carbon for the body, articulations are pieces of tube used for water...