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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, along with basic 4-bar and 6-bar walking linkages. Strider Ver 3's linkage plans can be found here. TrotBot's linkage plans can be found here. LEGO Builds
Mindstorms BuildsUPDATE: for improved functionality for Mindstorms Strider Ver 3, see these instructions for mounting the EV3 brick higher
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Theo Jansen's Strandbeest mechanism optimized for LEGO
Strider Ver 3
TrotBot Ver 1
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 or axles for joints designed to move. 
LEGO Spot Micro training on his treadmill
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Check out PlantagoLabs 3D printed Strider for XRP - you can find his plans here
3D Printed Strider by PlantagoLabs
We've finally dialed in a solution for smoothing the gaits of 8-legged Striders by adding shock-absorbing heels
Check out MoonOnOurNation's (陳亮) 3D-printed mini Strider with onboard video! You can find detailed building instructions on his Instructables page here: https://www.instructables.com/Strider-Camera-Robot/
Our latest TrotBot 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 version of TrotBot.