It seems I've done this robot before I started thinking. Because nowadays I pity the fool who makes a biped robot that couldn't walk in real life. Especially when these robot makers try hard to make them otherwise real.
For example the big exoskeletons with guns from the 3rd Matrix movie, who fend off the squids who break in the human outpost. Unless this kind of robots just hop around like a damn bunny (like mine does obviously, I don't know why I called him a "walker"), they'd just fall when shifting their weight from one leg to the other. So I guess this kind of robots should be able to step as close as possible to their weight center's projection on the ground (note to self).