The problem with leg movement is that as the leg moves forward or backward it also needs to go up to prevent dragging it's foot on the floor. The wheel has all the correct motions built in and it is just a matter of attaching the leg to the wheel in such a way as to take advantage of that range of motion (using crank/slider mechanism).
The build log is just a generalized discussion of photos of my build as everyone's use of materials would probably be very different.
1. I plan to add a knee joint to the leg that will lift the foreleg or bottom of the leg up as the thigh moves forward or back thereby making it easier to step over obstacles..
2. It would be really cool to add a solenoid to lower and raise the pivot point of the leg. This would reduce and enlarge the leg stride on the fly making a way to increase and decrease the efficiency of the robot leg while it is moving.
3. It would also be interesting to put 6 of these legs together and see how a robot can move without using computer control to coordinate the legs movements.
4. Put a shoe on the leg - noticed it is slipping a bit on the carpet.