FrameBot is a scaled up version of a small crawler I called TheThing .
Here are some cad drawings .

http://www.robotgroup.net/brooks/FrameBotB3c.jpg

http://www.robotgroup.net/brooks/FrameBotB3Eb.jpg

The blue beam alternates which leg is up or down ,the green pivot point is the stride and the red leg segments are the side stepping movements .