When you play the scene the walker will automatically start walking in the only direction it can. I`ve tinkered with the walker a little and so far these are the only settings that actually work. This is not cheat, there are not invisible items, just a clumbsy 2 legged walker.

It should walk for a while. I`ve watched it for a minute or two and haven`t seen it fall so I`m sure it`ll stay that way. I hope watching this will help anyone else trying to make a biped.

Btw The theo jansen mechanism is not mine, but it`s not the first time I`ve stolen it.