Hehe, this really is turning into a proper engineering challenge to get a nano walker in weight and in the cube! My first design fitted the bill, but was just a bit rubbish
![Rolling Eyes :roll:](./images/smilies/icon_rolleyes.gif)
I think if I finish the 3rd version it could work and have weight spare, just the worm gear motors have very little power so it's going to have to be a very free running setup... I may have to look at hacking the motors from the double drive units into the worm drive gearboxes as they seem to have more power...
Its a shame you don't really have room/ weight for an extra leg each side on that design; would make for a very smooth walk.