Female robot gait

http://www.physorg.com/news/2011-11-hrp-4c-female-robot-video.html

This is an interesting solution to simulating human walking.  Still not there but pretty close. Looks like they need more flexibility in the foot and ankle along with my dynamically controlled balance in the torso. It seems too rigid.  The weight transfer of the upper torso is locked to the COB.