I have been working on building an open source, DIY walking machine for the last few years.
You can follow my progress here
The Humble Velocipede is a playful desktop toy designed to scuttle over countertops and coffee tables. The design of this toy was inspired by Theo Jansen's Strandbeest creatures, and combines 3D printing with some custom hardware to put the beauty of Jansen's walking mechanism in your hands.