It is amazing how it is possible to use LEGO Mindstorms to study robotics - and enjoying it all the time!
It took me a couple of days during free time to build a robot based on the Resonant Biped by Danny Benedettelli. Practically speaking, it is a great design of a walking robot on two legs which moves based on a simple yet effective weight shifting approach. I needed to change a couple of parts to make it work with my components. If you are interested, details are on my homepage.
Meanwhile, you can check the following shot:
