I have been grabbing the occasional hour here and there and have finally finished the layout and routing of the Dynamixel Robotics Controller PCB. A little bit of clean up and it will be ready for submission to the board manufacturer. I have to get going on ordering the parts for it while the board is getting made.
On the web site front, I have put together some info for the page about the Quadruped4 design which uses the Dynamixel Robotics Controller. Hopefully it can help other experimenters find suppliers or gather useful information from the approach I have used.