This summer, I had bought 6 new Hitec HS-475HB servos from Lynxmotion, and I just removed the old servos and rebuilt the BRAT yesterday. Of course, it's a lot better than it was with the HS-422 servos...
Here are some photos:
And videos (in the second one, the BASIC Atom is sending data to the SSC-32, I'm just using the code generated by the Sequencer program):
As soon as I have time, I'll try to improve the waking sequence, add some other sequences (turn, kick), add some sensors, and make a bit more autonomous.
and sorry for the low quality of photos and videos...