Algodoo

Algodoo 1.6.3 needed! http://www.algodoo.com/forum/viewtopic.php?f=24&t=1701

Press 1 and 2 for the preset values.

Programmable legs with 5 input values.

scene.my.speed = 1
The speed of the legs.

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

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

scene.my.hipangle = 45
How much much the hip rotates. (0-90 value)

scene.my.kneeangle = 45
How much much the knee rotates. (0-90 value)

If the leg jams just put it back into place.
If you find good values please post them. Remember to rate and comment.

Edit: various bug fixes, found some values:
running:
scene.my.speed = 12;
scene.my.hipoffset = 90;
scene.my.legoffset = 180;
scene.my.hipangle = 30;
scene.my.kneeangle = 60;

walking:
scene.my.speed = 2;
scene.my.hipoffset = 45;
scene.my.legoffset = 180;
scene.my.hipangle = 15;
scene.my.kneeangle = 30;