I am building a humanoid robot and was wondering which is better to use? I am starting on the head from a book that I received on the Mark 1 robot project. I am then going to research and build humanoid or at least close to humanoid legs. Do anyone have any projects I can research and learn about biped robots. The Mark 1 can not walk yet from what I understand. I believe if I make the feet and lower legs heavier it might help.