It can't be too far away now, technically speaking. The iconic image of Arnie the CyberKiller with his skin off that has haunted mankind since James Cameron thought it up in 1984 is so close to coming to fruition it puts the hairs up on the back of my tongue.
Petman (from Boston Dynamics) is a biped robot that balances dynamically using a human-like walking motion. It is a close relative to BigDog, sharing elements of the mechanical design and control. According to the website, "The robot will have the shape and size of a standard human, making it the first anthropomorphic robot that moves dynamically like a real person."
Nope, humans have TWO LEG JOINTS, not three. That's one abnormally freaky looking animal, guys.