^According to this article, the NASA Robonaut entry in the DARPA challenge will have two legs
. Yea... at long last, the space robot will finally get it's legs!
"Robots Assemble for Military's $2 Million Challenge"
"according to an agency announcement on Oct. 24. They include a two-legged descendant of NASA's Robonaut that is currently assisting astronauts aboard the International Space Station"