Is there anyone who has built a 16F84-controlled 8 servo motor biped like the one in Jon Iovine's PIC book ?

A video of this robot walking can be seen at the Images SI site.

I'm having a problem with mine.
It will initialize in a knee bent foward stance.
When it goes into its first movement, both ankle servos tilt the robot to the left until the robot falls over. Then no other movement occurs.