Is this articulated Turtle print failing because of over extrusion on a Taz Workhorse?
It looks to me like you have corner curling on overhangs, which can be contributed to by a mix of:


overextrusion (poor dimensional accuracy of filament or wrong filament diameter setting)
uneven extrusion (due to changes in the print head motion faster than the flow response to changes in the extruder)
uneven cooling (especially due to proximity of one side to heated bed)
too little cooling


and possibly other factors. I would first try lowering the bed temperature. Technically you can print PLA on an unheated bed, but adhesion may be too poor. Dropping to 45°C (my preference now) should not hurt adhesion much and might help; it partly solved my corner-curling problems.

Both uneven extrusion and insufficient cooling can be solved solved by printing slower, but that's no fun. It works for uneven extrusion because, even under constraints on acceleration/jerk, print head can change direction almost instantaneously at low speeds, yielding near-uniform absolute velocity.

Uneven extrusion can also be solved by cranking up the limits on acceleration and jerk. This is a tradeoff because it might get you more vibration/ringing, and beyond the physical limits of your printer it may even start skipping steps and shifting layers (failed prints), but up to that point I think it's a worthwhile tradeoff. Effects from uneven extrusion are some of the worst, in my opinion, print quality/print failure issues, and worth other minor blemishes to fix them if needed.