Unfortunately its a space issue for me. The DC motors are supplied with H-bridges which would still have to be used which also means the orginal board would have to stay. There are just so many DC motors in the little guy. Just today I was contemplating on if I severely modify the board if it would fit inside. I've got another idea but its on the back burner. I'm waiting for my parts (from china) to arrive so I can continue my Wall-E project first. I hear DJ has a Cybie so maybe he will have that thing modded one day. hint hint

Found this interesting..

http://pappmaskin.no/2009/11/frankendog-diy-animatronics/

There are 2 motors per leg. Perhaps swapping them out with Mico RC Servos???? Then Control with Board w/o HiBridge?