Here is an open invote to all of you to join yet another Shoutbox debate. Oddbot and I are both thinking of ways to mount a vehicle, or creature, on Theo Jansen legs. (use the search box)
Most creatures living on the 'net have two sets of three legs. Each set on a side. In the front and in the back. Many creatures I saw even double up on the legs: six in front, six in the rear. All connected to the same crankshaft in the center of the creature.
See the original Transporter or Animaris Rhinoceros