Demo Videos:

walk-slow.MPG (13M), SQ-slow.txt
walk-fast.MPG (3.5M), SQ-fast.txt (same sequences as 'walk-slow', but set at a faster speed and smaller delay timing)
kick.MPG (3M), SQ-kick.txt
getup.MPG (2M), SQ-getup.txt
getup2.MPG (2M), SQ-getup2.txt
balance.MPG (12M), SQ-balance.txt

Here is the sequences file (walk-slow, SQ-slow.txt) that do the magic, so simple! Texts within {} brackets are comments for easy maintainence.

=========================================================
{Set speed to 1 for all} SPA,1,
{Stand still} S0,90,S1,75,S2,90,S4,92,S5,85,S6,90,DLY,40,
{Lift left leg} S0,112,S4,118,DLY,40,
{Move left leg forward} S1,132,S2,135,DLY,40,
{Put left leg down} S0,90,S4,90,DLY,40,
{Stand still} S1,90,S2,90,S4,92,S5,100,DLY,40,
{Lift right leg} S0,68,S4,72,DLY,40,
{Move right leg forward} S1,95,S4,76,S5,42,S6,45,DLY,40,
{Put right leg down} S0,90,S1,90,S4,94,S6,40,DLY,40,
{Repeat actions} GOTO,1,
=========================================================

To program a robotic motion is simple as a piece of cake! (just a minute work!)
Let's take the "getup.txt" motion for an illustration, first use the Servo Controller Console to set the robot in the upright "Stand still" position (p1.gif), then copy the servo positions to a sequence entry by a click on the ">>Set" button. Then, set the robot in the bending (Get up) position, copy the servo positions to another sequence. Since the beginning and the ending postures are both the same, so, just copy the "Stand still" sequence to another sequence entry immediately after the "Get up" sequence. Finally, add the set all servos speed "SPA" command at the beginning and the "STOP" command at the end. Adjust the moving speed and delay timings accordingly, add comments, download and play! It's dead easy!

Another 4-legged robot example:

Video: 4legs.MPG (3M), (SQ-4legs.txt)