Hi guys. Im about a quarter of the way through building a humanoid robot. Its about the size of an average 10 year old child. I was planning to use my own design of servomotor for the leg joints for powered walking but I came across this website

http://news.yahoo.com/news? tmpl=story&u=/ap/20050218/ap_on_sc/robot_toddlers_5

After seeing that I thought maybe I should radically change the design of my legs. Does anybody know more about passive dynamic walking?