A child wildly walking a pony can make it move forwards and backwards. I think there is a version of that that has strand beast legs and actually walks.
Here is a hemi-straandbeest bicycle:
https://m.youtube.com/watch?v=fXXJ1LOqHEk
Here is the mechanism for it:
https://m.youtube.com/watch?v=FFS-2axFo1Y
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