robot

With two outputs of a microcontroller you can drive a stepper motor driver (direction and step) therefore you get one controlled joint. by increasing the number of steppers you can get real nice movement.

Getting the thing to walk will require a lot of know how.

I happened to run across these while chasing somthing else a while back. I thought it looked like it could be fun to mess with. Free...if I remember right.

I don't know if this will help or not...but it might make for good learning anyway.

http://www.surveyor.com/MSRS.html

http://msdn2.microsoft.com/en-us/robotics/default.aspx