I put my biped back together, and got all of the servos moving (just one at at time) via bluetooth, and they I killed the servo controller right before Robothon. The new servo controller got here last week, but I want to re-do the power distribution before I install it. It would be nice to be able to turn the servo controller on and off from the Gumstix (and maybe the servos themselves too). I'm still thinking that over...

Question for Bram V:

How does Lucy balance laterally? I can't see any side-to-side weight shift - is the lateraly movement very small, or is Lucy's top end attached to something? Great video by the way, the leg movements are very smooth.