For a construction hexapod with fixed leg length, the best kinematic performance comes from a coxa of 10 to 20 percent of leg length and a tibia of 40 to 45 percent.
Topology-Shape-Size Optimization Design Synthesis of Compliant Grippers for Robotics: A Comprehensive Review and Prospective Advances,
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Design and Dimensional Optimization of Legged Structures for Construction Robots
For a construction hexapod with fixed leg length, the best kinematic performance comes from a coxa of 10 to 20 percent of leg length and a tibia of 40 to 45 percent.