3DOF Mini Quadruped

I printed TheCase's excellent mini-quadruped design, and I love the simplicity of the parts, but I wanted a third degree of freedom in the leg for more complete kinematics, so I slightly redesigned the leg parts.

This also results in a slightly less bulky leg.

For now, I've left off the servo buttons at the coxa joint, but I may go back and add them back in for smoother motion.

If there's interest, I may workup a PCB which carries a Teensy 2.0 microcontroller board and provides power and support for twelve servos.

Update: Video of its first gait!
https://www.youtube.com/watch?v=VsHNA3oLXC8