12 Axis quadruped. Actuated by Hitec HS-805MG servos. Powered by two Bosch ProCore 18V 4AH batteries. With minor changes to the servo we read back the analog signal position data, so we know where the legs are relative to the body.
Attention: These servos are far from ideal for use in dynamic biomimetic creatures, we had these servos laying around therefor we used them in this project. I recommend BLDC motors, which almost every other dynamic biomimetic creature uses. Dynamixel has some very good actuators, also ODrive is a very good driver.
The documentation is far from perfect because we just scraped some pictures and videos together trying to create instruction. Because this is poorly documented we don't recommend starting this project without a clue what you're dealing with. Dangerous electric power, some money, annoyance.