New to linkages? For some easier builds like Punchers, Jumpers and Biters check out Linkage Warm Ups.
If you want to create a custom linkage for your walker like this simulation of Strandbeest's linkage optimized for LEGO, see Customize where you can find interactive simulators for Jansen's, Klann's, TrotBot's and Strider's linkages.
Strider Ver 3's linkage plans can be found here.
TrotBot's linkage plans can be found here.
UPDATE: for improved functionality for Mindstorms Strider Ver 3, see these instructions for mounting the EV3 brick higher
Trouble Shooting Tips: A finished walker's legs should be easy to rotate by hand with the motors disengaged. If you feel resistance, then look carefully at the legs to see if any are twisted due to leg parts connecting to other parts in the wrong plane . Also, make sure that all bushings have been added to the axles so that the legs and cranks don't collide. Most importantly, be sure to use frictionless pins for joints designed to move.
The below jumping robot prototype can be found in Linkage Warm Ups.
Check out the amazing design and craftsmanship of Automata Korea Design's wooden TrotBots.
Our latest build is a LEGO Quadruped TrotBot which is based on Hexapod TrotBot with a frame side and a pair of legs removed, making it our easiest and cheapest TrotBot build.