You would be correct. We're testing with a basic stamp kit and a Parallax Propeller. We have not decided yet.
We'd love to get more opinions on controllers too
The movement in the upper body is controlled by aour telemetry suit so we'll only use the controller for walk cycles.
We custom built most of it using some parts from Lynxmotion. It took us probabley 500 hours including the T-suit.
We're still doing reasearch and will be forever. There is always room to improve on the design.