David just connected a wii-remote to one of the darwins and is using the gyro info from the remote to adjust the hip pitch and roll to keep the robot from falling on the astroturf!  Basically doing LFD.  The plan is to create a function that will appropriately set the hip pitch/roll based off of the robot’s gyro data and possibly the foot sensor data using the training data that David gives based off of the wii remote.  Totally awesome!! Hope it works :).