Roboty by Skip Carter

Roboty is an autonomous 6 legged walker.  It is about 15" long and
stands about 6" high.  Each leg is controlled by its own 68HC705K1
microporcessor which generates the control signals for a pair of
servo-motors. The 6 705's are connected on a SPI "network" and are
controlled by a 68332.  The '332 handles the coordination of the
leg motions, manages the sensors, and makes the high level decisions
about what to do next.  Most of the sensors are mounted on a
sensor "head" that can be steered up/down and left/right.

See for more details

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