Based on a 6 DOF BRAT clone kit from ebay ($50!)

Uses 6 MG995 45g servos:

2 Ankle Servos, 2 Knee Servos, 2 Hip Servos

4xAA Nimh to drive servos

2xAA to drive Raspberry Pi via a cheap "emergency charger"

All controlled by a Raspberry Pi using servoblaster software PWM and programmed in python (but might move to C if I need the speed)

Still a bit wobbly as I'm not using the knee servos much at the moment.

Its interesting that I can get it to walk with just 4 servos in use - so there's an idea for my next bot ;)

The knee joints mean it can sit down, unlike other bipeds:

Speeding up the leg movement to kick a ball :