Hexy won't stand on it's own

This is almost always a power problem. Make sure you have a fresh pack of AAs loaded into Hexy, and that you're following the advice in the Hexy Power Guide.

If you're still having issues, make sure that you've calibrated the servos properly. A bent leg certainly doesn't help! Here's a guide on calibration:

http://arcbotics.com/lessons/calibrate-pomoco-offsets/