Yeah, I hear you. The mega-robotics thing is way overpriced - their custom "servos" have less torque than the AX-12, but they cost more than twice as much.
As far as a walking video, take a look at my latest:http://www.bioloid.info/MicroRaptor-Walking-01.wmv
This is the first time MicroRaptor has actually taken consecutive steps. I need to do some more work on my motion sequence tools so I can tune it better, including keeping the feet off the ground while swinging forwards.
MicroRaptor, when it is done, is going to walk at a pretty decent clip, and it isn't going to be shuffling. The stride length is about 6", btw...