I once drew up some sketches of a two-legged robot with a head and a tail like a velociraptor. I theorize you could weight the head and tail to balance and make the walking a little more mechanical, so if you start to tip, there's a lot more leeway to regain balance. I guess I can afford more technology than I could back then, hmm, perhaps I might dust those off.
I bet this thing can pull of some wicked Dukes of Hazzard style jumping, though.