The20
Hyperdrives
What if we go a different approach? Make the mecha with more tank-like principles. Legs have been shown to be more versitile than wheels. I mean if a tanks flips over it is useless, however if something will legs flip over it can pick itself back up.
Like a turtle? or a bug?
Needs arms and full degree of rotation for at least the arms in order to get up.
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I liked the mecha designs in Junk Force (short manga and light novel series, it's out of print, I think). The models were all primarily tank-style designs which used several different standing positions and movement types.
One of the mechs (Little Bow) had its propulsion system integrated with the joints connecting the legs and arms to the main chassis. Another (Scorpion) used thrust from its engine to propel itself off the ground, it also had replaceable limbs. The heavier tank (Dreadnought) of the three main ones used by the heroines used treads exclusively for movement, and converted from standing mode and tank mode, the only difference being the posture of the treads and chassis (and arms) being moved higher.
Currently, Mechanized Propulsion Systems (http://www.mechaps.com/), a real group which is building a walking mech, is almost complete with their mech. They've explained that designing/making a mech is alot of work. Recently (AX2009) I heard about how they handle the movement system. It basically is a network of many, many small computers oriented like the nervous system in the body (like the bundles of neurons in arms). They act as a reactive response to outside environmental factors (wind, gravity, balance) and then adjust the movement as it goes (not unlike auto-correction in jet fighters). They've also discussed how the mechs may first be used: As power loaders, or industrial mechs, for every-day use such as rescuing survivors of a disaster or construction/utility work.
[EDIT]
Here are the designs for Junk Force:
http://www.junkforce.com/mecha/index.html