As you may recall, the multi-talented retired engineer, Roberto Lou Ma, has been kind enough to provide free plans for two different ramp-walking figures: the rhino and the robot. These are available only here on The Automata / Automaton Blog!
Regarding the robot: Sky Engineering Labs has made an interesting simulation model of the walking robot. I've posted it above. Their YouTube page offers a couple of engineering-related tutorials on MBDyn and MATLAB Graphics. Here is my original post with the free downloadable plans and instructions for making for the ramp-walking robot.
As for the rhino: Roberto Lou Ma, as now provided a PDF of the patterns so that they can be printed out out full scale. They are also available on the Ramp-walking Rhino page.