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This is a test, hard to balance Mr. ConeHead dancing
Take 2 soon :-)
By EzAng
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If you truly want to get some bipedal walking motion happening you need an ankle joint, but I'm guessing you've already arrived at that conclusion
http://www.ez-robot.com/Shop/AccessoriesDetails.aspx?prevCat=104&productNumber=1210
http://www.ez-robot.com/Shop/AccessoriesDetails.aspx?prevCat=104&productNumber=1211
You might be able to get away with a DIY solution but the JD ankle/feet gives you the general concept.