17 dof robot walking

hello, i am working with a 17 dof robot. Other Consumer Electronics for sale | eBay. i want to make it walk without any gyroscope using Arduino mega. I haven't worked with any biped robot before. can somebody instruct or help me with arduino code, who have already worked with this biped before?

I thinl lynxmotion has sold a similar robot, so you might find some info on how that type of bot is controlled. You will probably get more help when you ask specific questions concerning issues you encounter.