I have just posted an article about the insides of the very-hackable robosapiens by wowwee and Mark Tilden.
The article can be found on my site: http://zodiak.f2o.org/extra.php?id_extra=23 .
This is only part I where I open most of the covers on my unit. Soon I will post the last developments.
NOTE: I wrote this entry before I knew about this: http://www.servomagazine.com/hack-a-sapien/ ahh life is so interesting!