Called PINO robot ,one works perfect and the other need a main cpu board and found out the board costs $1000 frrom japan (ouch) so it perfect for a EZB
The robot its self costs $35000 and there is a newer design PINO 2 AT $45000
here is a link to the robot
and a link to pino teaches him self to walk
PINO ROBOT teaches him self to walk
ALSO a write up on this issue of servo magazine too.
WILL post photos of it