Re:Feedback claims dubious (Score 1)

I dont think the RCB-1 controler regurgitates the previous position. The servos really do have a signaling protocol that allows the controler to retrieve the current position.
Check out the PDF called "ICS Servo Special Protocol" here: http://robosavvy.com/Support/2
This will be validated experimentally soon.

I know someone who has done a similar project developing interesting gaits that utilize current AND position feedback form the servos. http://www.mundobot.com/projects/melanie/v2/enmela nie2.htm