http://bhlnasxdqyyqhuak6m4nuqhwwrpphec2we3mhdjofvw5lrrm65doa3yd.onion/robowaifu/res/243.html
Stand on one leg, only lifting the other one half a centimeter from the ground, move the one in the air a bit forward. It doesn't need much power.
So either using a big foot, or fast muscles and sensors.
The other thing is, how much walking can be separated in subgoals.