Today I made two prototype legs. Each of them has 3 servos. Two servos act as a shoulder and thigh and one acts as a knee. The hip and thigh are currently held together by several cable ties and this assembly connects to the knee/calf with a threaded pushrod and servo attachments. I am controlling the prototypes with a Yost Engineering Servo Center. It only took me about thirty minutes to learn the protocol, characters sent through the serial port, and write a controller program in VB. My next steps will be making a sequencing program and cutting a plexiglass body.