FrameBot is a scaled up version of a small crawler I called TheThing .I'm considering building it for the Austin First Night Parade .It will run on a small gas engine powered pump running a set of hydrolic cylinders .If I can raise the $4K I need for the engine ,pump ,valves ,cylinders ,hoses and fittings .I have most all the steel and the frame is already built (The old B3 frame)so this is mostly done.
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 .