So here's the minimal version of the robot -- only the servos, an Arduino and an IR sensor for control with a TV remote. The gait still needs a little bit of tweaking (and I didn't adjust the trims on the servos), but it still walks pretty well. I also need to add rotation.
This can be used as is, bascially a remote-controlled toy, or you can attach various things to the Arduino (both the serial and the I²C pins are free) to control it in a little bit more intelligent way (like the VoCore + webcam version that I started with). In particular, I'm looking forward to getting that OpenMV board to put it on this thing.