Williams, P.Sagraniching, E.Bennet, M.Singh, R.This report discusses the design of a six-legged walking machine during the academic year of 1990-1991. The body design incorporated two pods for stability and ease of turning, The leg design was optimized for performance, flexibility and simplicity. The electrical hardware design employed modularity and distributed processing to drive thirteen motors. The soft design used feed-back to coordinate the systemen-USroboticsIntelligent ServomechanismsThesis