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 :