I finally made one

If memory serves the simplest mech relies off 4 things, hip joint as sin(Time*90), knee as cos(Time*90), ankle as -cos(Time*90), using strong gyroscopes to hold the mech up

Im working on writing a guide rn, ill link my work outdated guide and current more detailed, unfinished project logs. Ill summarise it anyway, to get a leg to move periodically (repeatedly) you need to use periodic functions.

-These are a family of functions including sin, cos, etc.
-For the input use something like sin(Time*90).
-Plot out how you want your leg to move, using Desmos where y-axis is the leg extension
- e.g. max input = 1, using this, make the rotator have the correct angle range
-In my more detailed guide theres a graph of the Gait cycle (walking cycle of human)
-Add Periodic functions until you are happy with your graph, as shown in the more detailed unfinished guide
-If you want to do something more complicated you could try taking a fourier transform on the leg movement graph

A hinge probably is enough, or maybe a rotator. But i usually use control base so i have more freedom on the rotational axis

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