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I am also in the process of designing my first hexapod robot. Having not built one I cant speak from experience but I have been researching what other people have built. I have seen a lot hexapods withBotBoarduino (http://www.lynxmotion.com/c-153-botboarduino.aspx) or Bot Board II (http://www.lynxmotion.com/c-66-bot-board-ii.aspx)and SSC-32 Servo Controller (http://www.lynxmotion.com/p-395-ssc-32-servo-controller.aspx).I am planning to use the ARC32 (http://www.basicmicro.com/ARC32_p_141.html) because space is a major concern in my design. As for the controller I havent seen anyone use PS3 controllers but PS2 controllers are quite common.