cock roach locomotion studying model

legs and joint for studying how a cock roach walks. functions of cock roach legs: front: steer and pull; middle: thrust and weight support; hind: thrust. this is a model for building my sma powered ride on roach (liquid as heat transfer media, lpg as heat source, 8 arduino (linked) as control unit, 10 ultra sound range finders as sensors, with other things like gyro, etc.