Void, my biped robot

I'm currently working on a walking biped, which will (in my most delirious dreams) be able to walk with a dynamic gait (ie no bent knees). See Dr. Guero robot on the web for what I mean.

All my robot main parts will be 3D printed, with the files being done in Tinkercad.  

Since I'm on a budget, I'm using Dynamixel XL-320 smart servos, as they are the less expansive ones I could find. I will also be using a gyroscope/accelerometer.

I've already completed 1 of the legs, as a proof of concept and to validate that my 3D files were correct.

I've begun the long journey toward biped walking by having started the coding of the beast... I just hope that the OpenCM 9.04C controller I selected will have enough power (and RAM) to achieve my goal.