I played around with the BRAT biped robot and the Axon and I finally got it to walk. The gait is not perfect yet but its a start. The servo position calculator program the I made really helped me out. The entire program was made in C and the timing for the servo is cycles based. The Axon is a really powerful microcontroller board and its extremely easy to use.
More updates to come within the next week when I perfect the gait and add on an accelerometer.
Heres a video of it walking: