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I have only completed the first and easiest phase of my Hexapod - the build out from the PhantomX kit and my AX-12s from the Bioloid kit. The cdHex will be the prototype/experiment for future enhanced Quad to enter into the Mech Warefare. I would like to thank Trossen Robotics (www.trossenrobotics.com) for all the assistance - thanks Matt and Andrew. Also Michael Ferguson / Vanadium Labs (www.vanadiumlabs.com) for the awesome Arbotix controller and help along the way.
Next up is to add in some brains. I have the new BeagleBone from Beagleboard - that I am looking to connect up a webcam and work with OpenCV. I have been getting into more Python coding lately, so I may try to build my code around the Python bindings for OpenCV. I will be adding some sensors soon, which I will incorporate into the Arbotix and update the Arduino sketches - some basic things to stop the bot from walking into stuff (override the commander controller routines, if stationary, I will likely have him back away if someone comes at him from the front. Not sure exactly how I will integrate the BeagleBone - I would really like to get it working with the Arbotix to focus on the more complex aspects of computer vision, etc.
My follow-up to work done on this project will be looking at building a more powerful (an unfortunately expensive) Quad for Mech Warefare. I am looking at MX-28s, and most likely following somewhat the Darwin-OP architecture with Fit-PC and CM700 (730 if you can eventually buy it seperately).