My robot does this just fine with servos PWM input directly connected to arduino, but powered from batteries directly:
http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1173623665
-Z-
Okay, cool. Seems like the risk of exploding arduino just decreased 
I also checked the Spooky project class 3, very helpful.
Thank you.
I hope my ordered parts arrive soon. I will try to learn more about electronics till then.