Each family on a box. Dc motors and servo motors and the master puppet servo controller with the sensors. on the Background the drawings
Even the design of the boxes and how they will add to the general character of the piece is important. Found some nice legs on ebay for the trapeze box , the master puppet box , as a whole, it looks like a sort of insect now!
Interaction between boxes only through sensors
design for the master puppet box: thanks Colin!