The goal is to develop an open source biped robot, similar to http://www.poppy-project.org/. However, rather than beginning with hardware, I'm developing the behavior first. I'm using MATLAB/Simulink to simulate the mechanics of the machine while the controller is under development.
In the "links" section. Ref#1 provides a nice summary of bipedal robot research. Also, I've adapted their method of control signal generation. I use a similar parametric sigmoidal function to control joint position. With this method, determining the control signals for each joint can be reduced to intermittent calculation of 7 element vectors. I hope the reduction in control signal bandwidth will help reduce cost.
Ref#2 is a link to a Simulink model of a biped. I've replaced my ground contact model with one used in this project. This improved the fidelity of lateral friction and normal ground contact forces.
Luksch and Geyer are the two researchers I reference, and I've included links to their homepages. Seeing their work is what inspires me to keep going forward. Check out their simulations to see some amazing cutting edge stuff. We've all seen the PETMAN videos from Boston Dynamics and some of the recent DARPA robotics challenge entrants. They're impressive machines to be sure, but I still look forward to robots that move with the grace and agility of a human. Maybe this project can be a step in that direction.