I need to create a robot leg. I have a design but i'm not near a scanner so i'll try to explane it.

The leg is in two parts. It's a square with rounded edges (like a subd square) and it gets smaller towards the top, and top part of the leg gets smaller towards the bottom. Then there are joints to connect them. On each part of the leg there are guards thar will be raised off. There's also a joint to connect the bottom part of the leg to the foot.

I really just wanna know what it the best way to go about making this cos i really wanna get a rounded look, and thats what i'm having trouble with. I was thinking of getting the shape from a poly squar the beveling the edges.

Here quick very messy design mock-up in PS. It should give you the idea

Thanks in advance