It might sound obvious, but keeping the design lightweight and simple, without unnecessary mass additions and frills can significantly reduce the production time and limit failures. Four months after the design of the first concept, I realised several parts were unnecessary, making the overall structure bulky and heavy. The figure below shows how the servo motor holder for one of the legs has been simplified, reducing the mass as much as possible, but still keeping it strong. 33g
On the LHS of the photo, the black piece shows a vertical part with five holes designed to hold a metal flange. The old design was 33g heavy, the new design shows an improvement of 51.5%, weighting just 16g.