I essentially found a "walking" bug. It's a mechanical walking bug toy (which belongs to my roommate by the way and is also nonfunctional at the moment). It uses a fixed linkage system between the legs allowing it to walk forward.
As you can see, there is only one motorized part of the legs, that is the rotating cylinder powering the middle leg which is connect to the other two legs. This connection allowed for this cycle of movement forward.
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