If you want to create a custom linkage for your walker like the Klann variations shown in the video to the right, see customize.
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​​TrotBot's linkage plans can be found here.

Klann's linkage plans can be found here.

​Scott Anderson's 3D-printed TrotBot plans can be found here.
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LEGO Builds

UPDATE: I added LEGO part lists for Hexapod TrotBot,  Strider, TrotBot Ver 3, and EV3 TrotBot Ver 3.

​Mindstorms Builds