I haven't written anything because I've accidently destroyed one of hip servos, and though couldn't continue the work. But I decided to make my own motors. I decided to make actuators from a threaded bolt and two gears from servo. It'll have the needed torque and the speed.

EDIT:

Actually it won't ;( They seem to be to slow for this purpose, and the torque is quite low. Now it looks like this :

I have already tested another solution, with a bigger engine, hopefully this set will do the job.

EDIT2:

I think I finally succeded in finding the right gears. Now a leg looks like this :

It has an integated gearbox inside, which is quite fast and has the needed torque, as I wanted. Now I'm working on the hip joint and motors as well. Also I have to add potentiometers to the actual leg ;)

Peter.