Klann, Ver 1
I posted build instructions on Klann, Ver 2, but some pics of Ver 1 are below.
To build Klann with LEGO's parts I had to modify the lengths of the leg sections from what Joe Klann posted at MechanicalSpider. Below is my simulation of the LEGO-friendly configuration I built. Notice in the simulation that the feet skid when contacting and lifting off of the ground, which is because I moved the robot at the average horizontal speed of the feet. In reality, Klann's speed drops as feet lift off the ground, as can be seen in the vid of my LEGO build.
The small red beam helps to prevent the leg from hyper-extending at its Dead Point