Hello Lynxmotion community! 
I would like to share a project that i have started to begin after much research i have been doing in robotics. I am in the process of designing a bipedal humanoid robot with hopefully 18-20 DOF.
I am new to building robotics, but am not new to engineering, programming, or R/C electronics. I have decided to create my own brackets out of aluminum (based on lynxmotion erector set) using my scroll saw and drill press. Also i plan to use Hitec HS5645(i hope the torque they push out is adequate) servos for this initial build.
I would love any feedback/suggestions you have about my build and components i am using for it, and things i should think about changing.
Without further Ado
Heres Half of my build i mocked up with Google Sketchup (WIP)
Current height: 301.2 mm (~11.8582677 in)
FRONT
http://farm3.static.flickr.com/2006/2529274037_a8c7ea81a2.jpg
FRONT PERSPECTIVE
http://farm3.static.flickr.com/2116/2530084730_24fe67f8d6.jpg
BACK
http://farm4.static.flickr.com/3227/2529268173_a297bc793e.jpg
BACK PERSPECTIVE
http://farm4.static.flickr.com/3034/2529267985_d181eae5f5.jpg
A wide stance may make it difficult to shift the weight for walking unless the feet are also wide.
I concur with the stance. You probably would want to consider a narrower stance, and add another DOF near the hip, which would allow the legs to fold towards the center (perpendicular to the rest of the chain downwards).
Check out the leg design of proven bipeds such as the Biped Pete/Nick, Biped Scout/209, Kondo KHR-1HV, Bioloid Humanoid, Futaba RBT-1, Manoi, Robonova, and etc…
My suggestion/tip is to watch as many videos as possible on these biped bots. You can learn alot from watching many of the walking gaits out there…
Thanks for the feedback! , i will definitely bring the legs in closer for a better walking gait.
Ill come up with a redesign that is, more conventional but still original!
Can the hs5645 put down a decent walking gait or should i just go save more and go for the HSR-5980 SG’s, my goal after a walking stance is to have a pretty quick running gait.
In terms of height what do you suggest for optimum movement from your experiences , IK books here i come 
@tom_chang79
I am not quite sure which degree of freedom you would add? DO you mean to allow the movement of being able to place the feet near each other, or some what of inward split towards the center?
–
Reggie
