Much of this afternoon has been spent reworking the leg to make it something more industrial. I've looked into completely redesigning the limb using the hydraulic system idea to give the legs weight and balance. What I've got so far appears to work to a decent degree, even if the geometry might be a little heavy. I'll look into fixing the UVs before the leg is repeated.
The piston that would appear to keep the leg unbent will use some manner of spline to adjust itself. I'll need to perform some experiments to get a system that can extend the segments - what is on display is the furthest the leg can bend with this but with some clever re-positioning I might be able to extend the leg further. I can also use the freedoms presented by the digital medium to make it easier for the base to compress into the pivot it's connected to, allowing the sections to fold in and extend automatically and the pivots to rotate appropriately. This further tweaking might also allow the lower leg to more easily fold in.
That still leaves how to fit six of these inside the body. The folding in isn't the most efficient use of space, it could be the legs are arranged diagonally and drop through hatches in the mosquito's underside (which will be fun to build and set up). Only one leg will be worked on until the UVs, bones and controls are set up, which will be reproduced five times.
Overall, it appears to be quite a flexible setup. The leg bends in the right place, the lower joint provides most of the positional mobility and the foot has full free rotation so it can plant itself flat in a large variety of poses. An IK/FK system could be used for deployment, positioning and resting as one thing that could be implemented are shock-absorbers at the ankle - a simple tube that compresses into the body to give the feeling the machine is bearing weight when its turns its engines off.
It's about ready for the UVs