Inspired from what I have learned in building BOCA, we created CYOCrawler, an open-source quadrupedal robot. You can find more about the project here: https://hackaday.io/project/193061-cyocrawler-open-source-quadrupedal-robot

We are also launching CYOCrawler soon on Kickstarter, the fund will be used to mass-produce the PCB and lower down the overall cost of the robot, making it affordable for robotic/STEM education. Back us at: https://www.kickstarter.com/projects/cyobot/cyocrawler-building-tomorrows-innovators