The difficulty with a stock arduino is that the stock servo library (and the hardware, I believe) doesn't support the amount of servos required to run Hexy. Correct me if I'm wrong, but I believe that's why Joseph's Servotor32 has a different architecture and different servo library.
I'm using an Arduino Nano (great board, clones off ebay for less than a tenner) and the Pololu Maestro board. I like this combination very much. It has similar software to PoMoCo, but can control acceleration and speed as well as position. Also, with repsect to Joseph, no servo shake. The Arduino is programmable using C, and communicates with the Pololu Maestro using a simple protocol. You can find a straightforward example of this sort of setup (without the speed and acceleration, which I'm working on) at this link: http://orangenarwhals.blogspot.co.uk/20 ... -mini.html