4 legged walking robot

This is a 4 legged walking robot. Short video at:
http://youtu.be/bV_Y7wDfRAw

Joints are geared so that it can carry considerable weight (it has a footprint of 300*300mm).
The servos I have used are "Power HD Analog Standard Size Extra High-Torque Servo 1501MG" , but there are many similar options.

NOTES:

on 14NOV2014 I strengthened the left and right 'rotator cuffs'
grease the gears
print the gears using clear ABS or some other 'tough' ABS
see the video to see how to stabilise the feet