The feedback system is certainly a step in the right direction as well as using the idea of the "falling forward" concept of walking. For the other posters who stated it "walked funny" you didn't notice that the ankles of the Runbot are locked in position and it merely rolls on its "foot" until the next step. You try walking with your ankles in a fixed position and we will see if you don't look funny doing so. If the feedback system can be extended to small motors in the ankles I think the appearance of the Runbot walking would be a lot more realistic, and therefor a lot more acceptable to the anal, obcessive-compulsive Slashdot community.