For the most part, there hasn't been much work done on the walking engine. About all I have done is get a very crude sequencer working on the PC side of things, and can use a joystick to get the Nomad walking.
What works well is the inverse kinematics. By using the joystick, I can direct the Nomad in any direction, and vary the length of stride based on how far I move the joystick in a given direction.
What doesn't work well is the walking speed. I still have all of the math and position calculations being done on the PC side, and am trying to send position updates for 18 servos down the serial connection. The communication is just too slow. I need to offload some of that work to the onboard propeller.
There are a number of possible ways to do this. The simplest may be to feed down "end points" and just implement servo "ramping" on the Propeller. What I'd really like to do is get all the math and entire walking engine down on the propeller, and just send a command "walk this way". I will probably do some work with sensors and the SG6 Arm before I really make any plans on how to work all this out. See the Future Plans page.
Here's a video of the Nomad walking: