T(he)H(inge)W(alker) UPDATE But still not perfect :D

===Old "Frustrated because too lazy to solve" description
Just something i scrapped together in besiege...
found the idea of non piston walking that good thatvi wanted to try it out here to...
Doesn't walk at all now...
Maybe I am able to fix that bugs later...

===New "BADABOOM I HAVE MADE FIRE!" thought a bit and did it description===
So Obviously i need 4 different sequences of the sine wave to make a walking motion (D'oh)
Its a bit bounce but hey maybe the motivation will get me again and make something cool out of it who knows :p