Hello. A Polish man has created a robot hexapod based Arduiono. link below for a description of the project. If you like to offer up congratulations to the author.
http://www.dioda.com.pl/forum/topics7/kroczace-hexapod-maniek-vt2397.htm?sid=8dee48887d63ae362c368d973b2b219f
If you want to translate the page from Polish into English use Google translate:D I O D A
Viper