https://www.diywalkers.com/walker-abcs.html
![[strider-linkage-with-and-without-toes-15_orig.gif]]![[4-bar-biped_orig.gif]]

Can you put a walker on each side of a 16x16 pen?
Or do you steer the walker?
Oooh fun idea: multidimensional walker. When the foot is down, linear actuator pushes sideways so you can change course by nudging

This is really a simple mechanism that does what you want, right? http://www.moltensteelman.com/thewalkingbeast.html