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Walking robots form the next challenge in the eld of autonomous robots. This paper describes the construction of a fully autonomous humanoid walking robot as a platform for machine learning algorithms like e.g. Genetic Programming. Built from o-the-shelf components, the described humanoids are cheap, robust and easy to program, which make them an ideal test platform for several experimental ap-proaches in machine learning, sensor fusion, or adaptive control. In addition to these research related topics, the walking robots are an ideal tool for educational purposes.