Well, my NXT needed some repairs today. The display was acting funny, as in not working. After some research it turned out that some of the caps needed to be resoldered. Wasn't too bad even though they were SMDs.

And I found what might be the perfect board for a biped robot. The leaf lab maple, with an arm cortex cpu instead of an 8 bit avr. And it has a modified arduino environment. I think that might be perfect for some of the more complex stuff that I will do with a biped. So may order that and the lynxmotion BRAT sometime in the next month or two.