A degree of freedom needs to be independent of another - if you have two degrees of freedom from a leg it should be able to move up and down and forward and back independently, not in a combined motion such that cams produce. Think about the way the leg moves on scuttlebot or other shufflers, it is passing through a fixed trajectory of which only speed and direction are controlled, you need to add more variation than this.

I personally think shufflers ought to get a minimal weight bonus, say 125%, to encourage creativity.