Hey Brothas and sister,
I would love to see and learn the best method used with the EZ-B for biped motion. Measure could be speed and stability.
Here's an hour MIT presentation on dynamic feedback for bipeds:
MIT Dynamic Biped Feedback
Here's the results of a google search which shows there's lots of room for improvement. It seems the the EZ-B's speed and multiprocessing is a huge advantage over other platforms:
Robotic Biped Search