Algodoo

Algodoo 1.6.3 needed! http://www.algodoo.com/forum/viewtopic.php?f=24&t=1701
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Press 1 and 2 for the preset leg values and aim with the mouse.
To walk backwards make scene.my.hipoffset = -45 while walking (preset 1).
I used a modified version of kilinich's mouse pointer to make the arm and I made everything else by myself.

scene.my.pointer
Variable for arm.

Programmable legs has 5 input values.

scene.my.speed
The speed of the legs. (0-30 value recommended)

scene.my.legoffset
The offset between the legs. (0-180 value)

scene.my.hipoffset
The offset of the hips relative to the knees. (0-180 value)

scene.my.hipangle
How much much the hip rotates. (0-90 value)

scene.my.kneeangle
How much much the knee rotates. (0-90 value)