Bushwacker Battle Mech

thingiverse

I get flooded with new ideas every time I tackle a design project, and I feel like flushing much of this project to start over completely. It's frustrating when my creative energy goes into making one change that just sparks even more ideas in my mind. How can I create the motion mechanic that I envision for this mech, without overcomplicating it? Is there some combination of angles or linkages that will make its legs move in a way that looks like walking to human observers? This project was originally going to be based off an old 40mm miniature. However I lost my reference point after losing the original 40mm miniature.