Looks like the folks over at OpenSCB project are making great progress.
From Julien Rouviere :
This is an hexapod made with OpenSCB, the open source servo controller, a MSR µBug frame, 19 mystery SD90 servos and a small bike light! The board is running realtime translation/rotation matrix for body orientation and a 3 DoF inverse kinematic algorithm on each leg. Four channels are mixed together to drive the hexapod, a fifth channel is used to alternate between several modes with a switch on the radio.OpenSCB hexapod control demo from Julien Rouviere on Vimeo.