All my childhood and even later I have been playing with Lego bricks. When Lego Mindstorms RCX was released in 1998 I bought my first set in London and immediately became hooked on microcontrollers.

The hexapod has 6 motors connected to 2 RCX controllers and rotational encoders for feedback. A third RCX main controller acts as a master and sends commands to the 2 RCX slaves. Communication is done via a IR sender/receiver encorporated in the RCX.