i suggest you make a simpler walking type robot if its your first robot to build
human walk is somthin pretty complicated
consider the movement of the surface of your foot when you walk,, when you mount your foot on the floor,,
see how it bends?haa? thats not cuz it looks just cool, its a management of your body weight to go slowly on the foot
,,plus,, ou should balance yourself on 1 foot whiole the other is moving,,,
lots of hard stuff to handle,,,good luck