yes, my name is john r, i am tying to program my arc32 controller to walk in this robot frame that i have built, and i hAVE 5 degrees of motion per leg and would like to have this thing walk for my son and the family for chrismas, i feel as though i would be reinventing the wheel if i completely learn this basic language at this time, its not really tha tinportant if i spend this much time, on this, but i have spent alot of time trying to find a gait designer, or 3d vitual simulator, to do the job, isint there a program disk that i could buy that would be compatible with my compaq,presario CQ56, to do the job im trying to acomplish, like 3d max 7 or something in expensive for me because im on a budget,so that my manipulator could walk, or may just a program that i could use, on my own to control the gyro i have also with this program so he will stand half way decent,my email is [email protected], if you have any input , i will look back here for your responce, my robot has rc digital servos, with individual three wires, and im running twenty servos so far, - the pan and tilt for his vision , for some return on my reciving help i will give you my ideas 
for my android if i could figure how to apply the editor to create walking and then my other ideas, get bak to me as soon as you can [please, my number is [ADMIN EDIT], if you would like to tALK, with me