Passive dynamic walkers are a body of robots, both simulated and real-world, that can "walk" down a slightly inclined plane powered only by gravity and eventually acquire a stable periodic gait Of particular interest is the fact that the motion appears "humanlike". Performance indicators such as efficiency, step period etc are also commendable Common to all previously modelled creatures is that a hip mass is utilised to represent a torso - an omission that is tackled here. An upper body, represented as an inverted pendulum, is added to a passive creature. To keep the body in an upright position, a simple controller applies a varying torque as necessary. Periodic gaits are achievable, both stable and unstable, where stability is contrived through the addition o f a damper Performance indicators are as good as those o f the body-less creatures indicating that the torso is not a hindrance. Finally the addition of further dampers at the hip joint can improve performance.