At-St. Design a different style of servo or run bevel gear 90 degree at the knee with standard servo. Make it look like the movie. Home security robot. Other idea was a worm gear at the knee spring loaded to absorb shock. Biggest setback is figuring out needed rotational speeds. servo in the foot, cylinder servo for ankle, circular servos for knee and hip.
By MaddogOmega
Other robots from Synthiam community

Sudo's Synthiam Humanoid Project
As I said before, Ive been working on a 24 DOF humanoid robot (what i believe to be the most DOF in a EZ-Robot humanoid)...

Pacowang's Delta Vs Quad
So its time to dig out of this winter mess down hear in Obamaland. I put the Quad Scout up until I try out a delta...

Mikej's First Look At The Upgraded Model
Hello. Its been a little while since I have posted anything. I have since done a complete remake of my first robot UBM1...