I am still working on the ankle portion of the robot. It is a bit of a challenge getting the correct amount of movement, but I am sure I will get it. I am finding the joy's of tapping my own holes for the screws rather then using a nut at the end. I also found an old Siemens 8051 Microcontroller today with EPROM, S-RAM, and a character generator (but I am not sure what that is). I was pretty stoked until I realized that it is EPROM, not EEPROM, so I will have to work on getting it programmed (Anyone know how to do that?). Anyway it's late and I need to recharge. More tomorrow.