Copy of Strandbeest leg
This is a leg from one of Theo Jansen's Strandbeests
https://en.wikipedia.org/wiki/Theo_Jansen
The great thing about it is that it keeps the animal at the same level.
Here are the measurements I used:
https://de.wikipedia.org/wiki/Strandbeest#mediaviewer/File:Strandbeest_Leg_Proportions.svg
There are some good videos of his beasts.
https://www.youtube.com/watch?v=HSKyHmjyrkA