I'm looking to find out, How do human-like legs compare to chicken legs and four-leg systems. In terms of cost, performance, speed, strength and accuracy.
I'm interested in things like speed, agility, turning radius, complexity and cost.
For a design large enough for a person to ride, rider fatigue is also important -- how do they compare in terms of achievable ride smoothness, vibration, and so on?
Are there quantitative benefits of 3 DOF hip joints, compared to 2 DOF?
I realize other factors will come into play as well, such as actuators, joint designs and control systems. However, my interest at the moment is how basic leg designs compare to one another.
Edit: I'm looking for someone who has used these mechanisms first hand.