Radomir Dopieralski has a nice build log on his quadruped robot – Tote:
Tote is a small (fits inside your palm), four-legged, walking robot, with three degrees of freedom per leg, Arduino for its brains and controlled either with a TV remote, or by additional electronics added on top of it. It is very simple, cheap and sturdy, for this class of robots. Its goal is to be a starting point for anyone who wants to start building multi-legged robots.
Check out the video after the break.