Hello Charles,
Thanks for the message!
The Halley robot currently does not support walking as the servos on it are too weak to support dynamic walking. I have since moved on to working on a larger project called the Multipurpose Mobile Manipulator, which is the next evolution of the Halley robot: http://www.instructables.com/id/Multipurpose-Mobile-Manipulator-Mk-1/. If you have any further questions, don’t hesitate to ask
Cheers,
John Choi