I am not sure though.
To stop the noise, maybe you need to "upload" a program. You can see how on this page.
https://plus.google.com/photos/+ShotaIshiwatari/albums/5975815890170562785/5977386800854207810?pid=5977386800854207810&oid=116284253205452261693

Now the sample sketch is moved here.
https://github.com/Ishiwatari/RAPIRO/blob/master/RAPIRO_ver0_0/RAPIRO_ver0_0.ino

Around line 20 in the sketch, there is several parameters for angle adjustment.
0, // Waist yaw
0, // R Sholder roll
0, // R Sholder pitch
0, // R Hand grip
0, // L Sholder roll
0, // L Sholder pitch
0, // L Hand grip
0, // R Foot yaw
0, // R Foot pitch
0, // L Foot yaw
0}; // L Foot pitch

You need to change these parameters for your Rapiro to have correct angle.

I have exactly the same problem. Plus a defect large servo that are to be replaced.
Did you manage to solve the buzzing frets/waist sound with fine tuning the feet servos ?
I managed to get it a bit better( less buzzing) by adjusting the feets but I can't seem to completely get rid of the buzzing...

Yes, after fine tuning most of the buzzing disappeared. Depending on prior movement patterns the buzzing reoccurs but vanishes after some seconds.

I think the best workaround will be an extension to the rapiro.ino to disable the servos[1] after the designated position is reached (thus no more motion is required). This prevents any noise and should save some energy.

[1] digitalWrite(POWER, LOW);