Some more info for reference on a possible TARS build (like my pal erco is doing over at this thread on and Parallax Forums - Don't know how accurate this is, but it looks pretty good and is from what looks like a movie prop/costume and model builders forum (Replica Props Forum). Link address is on the left side. Drawing is by MrSinistar.
The link to the the thread post is here. Anyway - here is MrSinistar's "Blueprint" as he calls it.