The Bioloid kits don't include good feet for multi-legged robots. The Robotis multi-legged designs tend just to use pointy plastic parts which have no grip on the floor. They also make a loud tapping sound on hard surfaces. I therefore decided to search for softer, more grippy alternative. Two evenings of web searching later I found these anti vibration mountings for industrial equipment. They are mainly a dense rubber, but with a threaded (M8) male insert. By chance the M8 insert passes easily (but snugly) through the large hole in the Bioloid F9 bracket. The pointy end to the foot means that it can make contact with the floor at various angles which will be important for smooth walking with 3 servos per leg.