Upright legs on wheels?

[Crumpets]

I'm dumbstruck on how to make this
I want it so the legs welded o the wheel don't spin but move around in a really simple walking motion so I can make a simple non e2 mech

I'll add a picture soon because to me at least this explanation seems retarded

[IMG]http://i.imgur.com/FgpK0.png[/IMG]

so the leg is always upright, if i have a couple of these it should make a forward motion

[a-cookie]

Ballsocket?

or axis

[Crumpets]

neither of those work apparently

[Donkie]

[url]http://steamcommunity.com/sharedfiles/filedetails/?id=112797282&requirelogin=true[/url]
Fact just proven. Axised 4 pipes to the wheels, keepupright, motorized the wheels. What's the problem?

[Crumpets]

the keepupright wasnt keeping it.. upright? otherwise axis was perfect but i assumed it wasnt working because of something to do with axis