An evolution of ideas as I approached this challenge. A couple are somewhat hybrids, with walker/hopper pushing but unpowered wheels for stabilization. The last two are true jumpers, which I haven't seen too many of.
This is my very cute walking machine: http://FantasticContraption.com/?designId=1007930 However... what the heck ist that wall doing there? It's in the way, really Well, the machine's not perfect yet. It's too large and too unstable. But it can walk