Changing the motor in a servo?

[Shini]

Hello everyone. This is my first post here ^^

I've wanted to build a mini biped for a while now, and I read on robots-dreams.com that the EMMA-U0A uses the GWS micro servos. When I looked at EMMA's site, there were pictures that look like the stock motor of the GWS servos were replaced with different motors.

http://www.k2.dion.ne.jp/~radio-w/works ... oto_p2.htm

http://www.excite.co.jp/world/english/w ... N&wb_dis=2

In the third row of pictures, the first one, when translated into English, says "Well, it is a motor that stocked to improve servo motor MICRO-MG. It experiments after this by various approaches. Were about 20 pieces or more burnt?
After it remodels it thanks to you, normality is exceeded in the speed torque and all durabilities. "

What I would like to know is how hard is it to do what the creator of EMMA did with those servos? Also, is it possible to use 20-ish stock GWS Micro MG2BBs to make a biped, or is modifying them absolutely necessary.

Thanks in advance ^^
-Shini

[DerekZahn]

Wow, that's really nice work!

Looks like the micro mg gets 89 oz-in torque at 6v and weighs an ounce. I would guess that it should be possible to make a biped from those if you try to keep the joint lengths short. Sounds like a really fun project!