Cool! Maybe I can offer an opinion......
Are you using wheels, the demand will be different from a walking model.
IF YOU ARE making a walking model, I would offer an idea in that direction. I have
been working on an inexpensive way for robots to walk, and does not require
a million dollars to program. Still in the proto stage myself.
I have found out that, the wheeled robots are easier to program than the
walking ones, with balance and direction to take into consideration.
The walking structure that I use is simple(relative), and less expensive. I designed it
to do work, in the expectations of a human counterpart. With simplicity, comes less
programming headaches. --