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The weight is around 200 grammes, controled by a PIC 16F628
The whole Rob is made of "Printed board" I just solded together...Somes
Nuts are also soldered directly to the board so the
buid-up is faster !
You can build a similar robot the size you need, hanging from the size
of the servos you're using !
Principe is :
Weight transfert : 
Top with a Hip
Both Hips are mounted
Feet + legs together,
all the linkage at the right is to maintain the foot parallel to ground
by weight transfert !
Foot and leg from both sides !