As per asked in the video, I’ve tried doing it on my own! I used a cube that I cut to make the circle for the base there, I liked the conical shape going down. Used an ICO sphere for the 'articulation, then several cubes I’ve stretched down and beveled down to make the limbs. For the ‘front’ of the legs, it was also a cube I flattened, then cut at the middle to make the slight curve.
As for making the legs equal, I used a technique I learned to make an array rotate around an object(an empty in this case).