Each leg has a bearing joint in the knee/elbow, which is made up of a screw, nut, some washers and most importantly one rivet attached to each piece of wood to allow the parts of the leg to move around the screw without too much friction.
Reconnecting the legs to the body and wiring up the servos to the arduino made it very simple to test out a basic walking motion. The timing still needs some work, and without the wheels and tail to provide resistance the whole body has a tendency to wobble around, but the basic idea is there and the pulley system seems to be working nicely.