I don't know what level of power you are looking for or at what level
you wish to work electonics and mechanics. If you just want to create
a 'proof of concept' type thing, take a look at Lego's Mindstorms
website. There are several dozen examples of biped walkers, like
anthropod walkers and 'chicken' (reverse-joint) walkers. Really
For small bipeds, it is probably easiest to use an internal gyroscope to
provide a good reference for standing and walking. It will allow you to make
things much simpler in the long run.
My robotics, space and CGI web page - http://home.cfl.rr.com/aichip
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