CHARLI-L (lightweight) built by MIT's RoMeLa team, lead by Dennis Hong. With a height of 1.41m, and a comparatively ultra-lightweight at 12.1kg, CHARLI-L uses a combination of the popular Robotis Dynamixal servo's. CHARLI-L is indeed worthy of investigation to access strong areas of design, areas which might have benefited from improvement & many other avenues worth exploring. The CHARLI-L uses a ZMP-based control approach around a custom sinusoidal gait pattern. There is much documentation available to freely study & better focus areas of investigation.