Long story short, PLM bot's legs are being upgraded to RX-28s. Here's what I did with the now-free'd 16x RX-24Fs:
[ame="http://www.youtube.com/watch?v=WOIRp25odm4"]YouTube - RX-24F Lightweight Humanoid Part 2[/ame]
1.9kg, 16 DOF, smaller than a Bioloid.
No name yet, but he's SO cute!
Okay, sleep now.