Hello, there, sorry, long time no post! :(
Just found out about this great piece of work, , and I've thought you'd like to know, too:
Simple Theo Jansen Mechanism based walking Deskbeest
you will need an A3 printing paper with the plan printed on it. The plan can be downloaded as PDF from the attachment here. A4 should work too, though I havent tried. Smaller makes it difficult to work with.
1)Print the plan on A3 printing paper. Cut the legs plan out , fold at the markers, back and forth to make easy hinge points.
Fold and stick the appropriate portions as per the hand drawn plan, matching the section numbers in the drawing with the section numbers in the printed plan. Now you have the legs. Make all eight of them.