Yup, Dark Sun is the one with the praying mantis creature. It's called a Tri-Kreen by the way. And that "minotaur"-thingie was probably one of that worlds bear (a heavy mutation with scales and horns, often walking on two).
Dark Sun was the first campaign setting I bought for AD&D, so forgive me if I sound like a nostalgic geek!
You can find both Dark Sun games over at
Home of the Underdogs in case you're intrested.