This is a really cool little robotic quadruped based on a Picaxe 28X. Make sure to check out the last video where he demonstrates how it turns. I really like the sound it makes walking along the table.

The plans started out as a hexapod with the same basic idea, but the servos I ordered for it are a bit weak so I had to do something with the three larger servos I had. The result is this little guy.

More about the SQ01: A simple quadruped