The best way to walk???

If you modify hobby servos to send positional feedback you can use something like Pypose or RoboPlus to capture servo positions to build walking sequences.

http://forums.trossenrobotics.com/tutorials/how-to-diy-128/get-position-feedback-from-a-standard-hobby-servo-3279/

You can also use intelligent servos like Dynamixels or HerkuleX that have positional feedback built in.