Danny, just re-read your first post. You're planning on using the Anarchy method of walking, yeah? If so, you won't have any extra weight allowance, that mechanism no longer fulfills the walker criteria.

"2.2 Legged Robots [Walkers] can weigh up to twice the specified weight in all classes. A walker must employ moveable legs to support its weight. Each leg must have at least 2 degrees of freedom. Robots with rolling or sliding mechanisms will not be classified as walkers."