When I talked to Andrew from Trossen Robotics about their new hexapod, he also told me about his new leg design for Giger. It uses the Parallel Leg Mechanism (PLM) which is " mechanically paired linkages to bind your rotation points together. This effectively creates a parallelogram mechanism for each the top and bottom leg halves."
Photo of a PLM leg design.
Andrew has a page on the Trossen Robotic's forum talking about (PLM).
Videos from Robita602's youtube channel below.