Finally I have finished this 1 year project. what I came up with is a lightweight greyhound that you can control with an arduino and 8 servo's I bet there are better programmers out there that can make it walk even better and smoother. Also included is a basic program to get you going. http://www.youtube.com/watch?v=aDwTdbP_TBU Updates: 14-4-2013 The Greyhound Programming stand http://www.thingiverse.com/thing:73893 14-4-2013 Let me know If you have made a good program. than I can put it for download on this page with YOUR name on it. Things you need: Assembly: Download: Assembly The Greyhound.PDF Assemble the compleet left side. Assemble the right side just like the left side accept for the the following parts: _Neck _HeadSpacer _BodySpacer35mm _BodySpacer31mm Pin 1 Front Right Upperleg Pin 2 Front Right Lowerleg Pin 3 Front Left Upperleg Pin 4 Front Left Lowerleg Pin 5 Back Right Upperleg Pin 6 Back Right Lowerleg Pin 7 Back Left Upperleg Pin 8 Back Left Lowerleg to use the small programs I have written download the STAND.INO (For software calibration,this is the natural standing position.) And the WALK4.INO (For letting it walk, also in this program you need to fill in the natural stand you figured out in the STAND program. If you found a mistake please let me know. I would love to see some programs and pictures of what you did. Good luck!!!