These are graphics of the machine's assembly and operation. 

Exploded view of the tray and left hand side. The right hand side is a mirror copy. Not shown is the drive belt between motor pulley and camshaft pulley. 

Exploded View of the "hip" sub-assembly. 8 of these are assembled first, 4 left orientation and four right. 

This animated gif illustrates the cams working together to create a walking gait. Notice how the main cam (show as semi-trnsperant) rotates on the same axis that the leg pivots upon. This is the key to the independant suspension of the legs.