Hello everyone.
It is my first experiment with DOP context - Procedural Dynamic Step Mechanism (PDSM - do not confuse!). The base of it is the simple step mechanism of Chebyshev (without a pair of leg's beams, there are constraints but there are not beams). There is a constraint with angular velocity (engine) which rotate and move other parts of this construction. Every move is calculated by DOP context (Bullet Solver with packed geometry). Many parts are adjusted: size and number of mechanism, lehgth and transform of legs, look of cabin and other. Very simple create big or small machine with any number of cabin, realy that have to do is adjusting DOP parameters (solver, physical parameters, constraint's parameters for springs and engine) and keep an eye on correctness of size.

Animation:
https://vimeo.com/353523183 [vimeo.com]

Animation on place (static base):
https://vimeo.com/353523578 [vimeo.com]

really cool! well done

Great! I've tried some of this kind of thing before, and I've struggled to find the most stable solution to creating motors with constraints. It looks like you are using hard constraints set to rotation to connect the joints? How are you doing the angular velocity? Is this with the constraint motor settings? Or are you calculating it yourself in SOPs?

Or something else!

Either way - great work. I'd like to see it walking much faster

Thank you

I used Angular Motor function in Hard Constraint Relationship node for position type constraint.
For much faster walking I would use Time Wrap node or exclude Spring constraint

Really Amazing work! Great Job!