Hi vince,
If your looking to keep the RC side of your hexapod project all Arduino you might be interested in some of the code I have posted while looking for assistance with a very nood question.
http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1267236058
I'm currently using a Duemilanove with Liquidware Input sheilds as a dual stick 6 button transmitter via xbee for a RC tank project.
Have you implemented any IK into the movements?