I printed TheCase's excellent mini-quadruped design, and I love the simplicity of the parts, but I wanted a third degree of freedom in the leg for more complete kinematics, so I slightly redesigned the leg parts.
This also results in a slightly less bulky leg.
For now, I've left off the servo buttons at the coxa joint, but I may go back and add them back in for smoother motion.
If there's interest, I may workup a PCB which carries a Teensy 2.0 microcontroller board and provides power and support for twelve servos.
Update: Video of its first gait!