Ok, I have been giving this some thought and have read both the RFL and old RW rules on this subject. There are pros and cons with both sets, plus they have large gray areas in them as to what you may be able to get away with.
My personal view, for what it's worth, is any new build rule for walkers needs to be short, sweet and to the point. It should simply state the definition of the 'walking action' I.E how the leg / foot should move in order to propel the machine across the arena. How this action is achieved should be left totally up to the individual builder as anything else would a restriction of innovation.
May I suggest the following....
A walking action is defined as the lifting of one or more legs from the the floor, a forward (or backwards) movement of said leg(s) and a lowering back to the floor, during which time the machine must remain totally supported by it's remaining legs.
If a machine can achieve this action it should be classed as a 'walker' regardless of what mechanism is used to achieve it.


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