Squirrels have fuzzy tails.
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something like http://www.active-robots.com/robots/bipeds/phoenix-3dof-hexapod-kit-black.htmlim not so interested worried about the programming side yet, I just want some leg templates with dimentions and sizes.
You will need access to CNC to make 6 identical legs like shown in the link You've provided. We don't know level of You're experience, so it's hard to give an advice.