If you're interested in walking, the Florida Institute for Human and Machine Cognition (ihmc: http://robots.ihmc.us/ http://robots.ihmc.us/) came in second plac

If you're interested in walking, the Florida Institute for Human and Machine Cognition (ihmc: http://robots.ihmc.us/ http://robots.ihmc.us/) came in second place at the DARPA Robotics Challenge using force control and capture point dynamics. They do primarily software, but their walking is quite stable.