Walking "Humanoid" Robot found on eBay part 2

I am back to working on the walking humanoid robot after writing another book.  First I had to make an Arduino Shield to control the servo's.  Here is a video testing the servo shield.



Next is to connect it to the robot and get those servo's working.  I am using an IR remote control to test his movements.  This is a picture of the front view of the setup.

Here is the back view.  The arduino has been mounted in place for this picture.

Here is a video of me testing out the robot servo's.



Here is a second video with most of the servo's working and they are now "zeroed".



In spite of the really bad servo's he is taking his first steps.



Here is a two servo per leg version of the robot.



Here is the code for the two servo per leg robot in video 4.

void StepForward(){  //Moving Left Leg Forward

  servo1.write(75);  //shift weight to left ankle

  servo3.write(60);  //right ankle kicks weight over

  delay(200);

  servo3.write(70);  //free ankle lifts

  servo2.write(110); //left hip

  servo4.write(120); //right hip

  delay(200);

  servo1.write(90);  //level leftt ankle

  servo3.write(90);  //level right ankle

  delay(200);

  servo1.write(115);  //Shift weight to right ankle

  servo3.write(110); 

  delay(200);

  servo1.write(110);  //free ankle lifts

  servo2.write(70);  //left hip

  servo4.write(60);  //right hip

  delay(200);

  servo1.write(90);  //left ankle - back to home positions

  servo2.write(90);  //left hip

  servo3.write(90);  //right ankle

  servo4.write(90);  //right hip

  delay(200); 

}