TDA: Chevaline

This is a derivative of DogBot for my English final project about the Diamond Age, modified for a bit faster construction with more crazy glue because I was on a deadline ( see http://www.thingiverse.com/thing:10789 ).
Here's the paragraph about it in the artistic statement I wrote for the project:
The most in depth of the projects is the recreation of the Chevaline, an autonomous passenger vehicle designed to mimic a horse. The recreation is scaled down, but given enough development time could fully replicate the gait and functionality of the Chevaline on a smaller scale. The Chevaline is described as being able to move at various speeds without stumbling across varied terrain. A modern day analogue of this is the Big Dog robot, which is able to hold its balance on virtually any surface and is being employed by the military for these characteristics. As the Big Dog took several years of development, I went for a less robust walk cycle, using less powerful servo motors with no feedb