I milled out a simple 4-bar linkage leg. Leg dimensions were roughly taken from the SMC robot. It's really fun to prod at with different joint parameters. Each motor controller takes joint position, stiffness, and damping commands in over SPI:
I threw together some quick Python command line tools for setting the joint parameters in real-time:
Time to strap it to a linear rail and make it jump, then hide away for a couple weeks to write my thesis and finish the other stuff I need to do to graduate.