Simplified Walkers by Hiro Labo of Osaka Electro-Communication University's Department of Electro-Mechanical Engineering
We hope you find these builds as refreshingly simple as we did!
Here's our favorite which utilizes a shaped foot. Tad McGeer's development of passive walking with knees is described here.
2nd favorite - a dry ice powered Strandbeest!
Notice how rubber feet were added to increase traction on inclines, or when pulling the robots.
Due to their small sizes the linkage dimensions of some of these walkers had to be modified to be built in LEGO, but they still walk fairly well.