4 legged walking robot

This is a 4 legged walking robot. Short video at:
http://youtu.be/bV_Y7wDfRAw

Joints are geared so that it can carry considerable weight (it has a footprint of 300*300mm).
The servos I have used are "Power HD Analog Standard Size Extra High-Torque Servo 1501MG" , but there are many similar options.

NOTES:
- on 14NOV2014 I strengthened the left and right 'rotator cuffs'
- grease the gears
- print the gears using clear ABS or some other 'tough' ABS
- see the video to see how to stabilise the feet