A centipede robot

A typical arrangement you see with DIY/low budget hexapod legs is to have what I’m calling a “hip” servo, that rotates in the horizontal plane, and what I’m calling an “ankle” servo that rotates in the vertical plane, like this:

Together, these allow it to move left and right. I quickly whipped up a leg in Onshape:

If you’ve messed around with hobby servos at all, you’ve likely seen these, the classic SG90 servos. I tried upping the output of the regulator to be 6, 7V (because the servos can take that much and I thought maybe the voltage was dipping under high load).

Source: www.declanoller.com