Two branches here then:

Kinematics

- What are the centres of rotation for the "hips" of a Hexy (ideally from an obvious point on the body) in Cartesian co-ordinates (in mm if possible)?
- How long are each of the sections of the legs (from centre of rotation to centre of rotation)?
- What have I forgotten to ask regarding making a kinematic model of a Hexy?

- What are good online resources for learning about inverse-kinematics?
- Does anyone have any clever ideas for algorithms to determine an exact solution to the problem, given the non-trivial nature of this beastie?
- What have I forgotten to ask regarding making an inverse-kinematic model of a Hexy?