Your better off with Mindstorm, but I have built robots based on OOPIC controllers. Pretty simple because you can code in C,
VB, JAVA...whatever floats your boat.
http://www.networkoracle.com/walkinghexapod.htm
Movie-10MB
http://www.networkoracle.com/roboapproach.MPG
Resources:
http://www.acroname.com
http://www.lynxmotion.com
There are a number of biped robots on the market these days that are just amazing. Do a search on Robonova and Kondo Robot. Expensive ($1000-1500), but SO cool.