Arrgghhh…
4th time trying to reply to this posting, the trackpad keeps making the browser jump back and I lose the text!
Ok, so to be brief, yes I did.
Not fantastically far, but it did work.
Unstable because of the servos and lack of integrated gyro and accelerometers but not bad at all.
I’m back here as Im starting this again and wish I could find where I put all the old code and spreadsheets I used to work out the strings for moving.
I started by resetting the servos to a known ‘zero’ point then depending on what the movement was a table of values was run through the sevo update routine to rotate through 90 degrees, walk forward one step etc…
So I had a set of maybe a dozen callable routines that simply (though somewhat messily to get the memory use down a bit).
I started to get the IMU code in and referred to but got side tracked by the kids, new job and a mobile platform that took over my life for a bit! anyway, I’m about to rebuild the hardware with new metal servo horns, some more powerful digital versions of the MG955 (which isn’t a bad servo, if you don’t mind the little dancing man instead of one who stands perfectly still) and I’m thinking of using the SCC-32 to store the gaits if I can to reduce memory usage. I have one somewhere…
Did you get the new servos?
How is yours looking now?
It’ll take a few weeks to get the horns over from the usa, 9 days apparently! But, cost is everything 
then get it rebuilt and start writing the code again. I can’t find the original source, just some notes on the table data for each subroutine (having a fixed workshop that the kids and wife don’t take over to ‘fix’ whatever they broke would be great). I’m sure I have a disk with it all on somewhere, its finding it that is the problem!
Once I get going I should take pictures and video and post some code snippets, not that my code is very well written or efficient but it might help…
Did you get further than I did?
This was a help at the time but, it’s dissapeared… 
viewtopic.php?f=20&t=2827 I wish I could find that zip!
Anyone have a copy???