Brunton's Traveller was constructed by the Butterley Company in Derbyshire in 1813 by William Brunton (1777–1851). Also known as the "Steam Horse" it had a pair of mechanical legs, with feet that gripped the rails at the rear of the engine to push it forwards at about three miles an hour.
THE LIFE AND TIMES OF SIR GOLDSWORTHY GURNEY Chapter 5: INVENTING THE STEAM CARRIAGE p77 In 1824 David Gordon tried again with "an arrangement of machinery, by which an action similar to horses' feet could be obtained." Six jointed iron legs, fitted with feet, were connected by brass joints, straps, and keys to a set …
There are a few other youtube clips showing Shiva, the mechanical tiger. The clip above also include Arthades, a mechanical walking biped. The creator is Kezanti, a pseudonym for Dirk Dewulf. It looks as if Shiva has been converted from the original 650cc motorcycle engine to electric power.
Partial cut-away of Sidewinder. I used to have a copy from an early Annual, but alas, now long gone. If someone has a copy to send I'd be most grateful. Sidewinder (from Wikipedia) A military walking vehicle which appeared in the 1965 episode "Pit of Peril". It resembles a giant lobster. Powered by an atomic …