Hi!
I wanted to share my bipedal robot project with you guys!
The goal is to achieve making a self balancing, flexible humanoid robot that is able to walk around, adapt to irregular terrains and do small tasks for me 
The first prototype was made last year using 12 servos, an Arduino and an accelerometer. I implemented an ultra light 3D engine to control the two legs using an IK system, based on the output of the accelerometer:
https://www.youtube.com/watch?v=w_-MQRUQDHA
The next step is now to implement a new robot, with potentiometers at each joint, and some sort of linear actuator combined with a spring to allow flexible movements. The potentiometers will allow me to measure the “tension” of the system, making it possible for the robot to “feel” it is being pushed etc…
I also bought a Rasberry pi instead of the arduino, this will allow me to implement a more complex engine for the controller.
In the future, I plan to connect the robot with a neural network trained by renforcement learning, this should be fun!