Simulation!

Oh simulation. I have avoided it for so long because a) it's hard to simulate a humanoid robot and b) it doesn't match the real thing anyways. But I got a simulation working this week and even got a little video of the robot getting pushed sideways and taking a step:

Big Robot Pictures

Found a bunch of nice robot photos on the Boston Globe website. They're almost all humanoid robots that perform various entertainment and service purposes. The rest seem to be camouflaged and carrying guns.