I came across Theo Jansen’s Strandbeest not too long ago and decided to recreate it in grasshopper. As you can see in the screen capture below, it works rather well!
Also, here is the grasshopper definition for the first attempt. It is pretty messy at the moment, but the main logic it employs is looking for circular intersections to generate the the control points for the beest. At the moment you cannot edit the parameters very well, but I hope to post a refined definition at a later stage. (You’ll need the ghpython component in order to run this simulation also.)