You didn't mention what the servos are, and the ez-robot site only says standard servos.
http://www.ez-robot.com/Shop/
Likely those are just the plain old 44 oz-in servos, which really don't have enough torque for
most walkers, except maybe a small hexapod where the load is shared between 6 servos at
a time. You need servos with maybe 5X the torque for a biped.
I would go to the lynxmotion.com site and see what they are using on their walkers.