One of the major challenges SMMB had in Robogames 2016 was in overall walking speed.  It is using HerkuleX DRS-201 servos, which are roughly comparable to the Dynamixel servos that other entrants were using, but the physical geometry of the robot is such that is hard to get it to move quickly with that class of servos.  The center of gravity is too high, especially with the gimbal mounted turret. The R-Team bots all use very low slung machines that scoot along.  I could go that route, but why do things the easy way?