LEGO Biped Project

[pauluffel]

As to shifting the weight, I'd say having a moving mass would be easier than having ankles that turned. If you geared down a motor to an off-center weight that rotated once every two steps (like one rotation every time the left foot took a step) you could have a large percentage of the weight of the robot shift from one side to the other for each step and thus keep it from falling over.

This may be more difficult than what you already have set up, but it's what I plan on doing whenever I get around to making a biped.