An articulated walking device (10), configured for movement across a surface (S), includes a frame (12) and a plurality of leg assemblies (30) movably engaged with the frame. Each leg assembly includes a leg member (32) configured to rotate with respect to the frame about first and second axes (35 a, 36a) at least generally transverse to one another. A drive mechanism (13) operatively engaged with the plurality of leg assemblies actuates each of the leg members in like, predetermined, repeatable cycles of movement. The leg members are out of phase with one another, such that sufficient leg members are always supporting the toy device in an upright manner and immediately adjoining leg members do not move together in parallel.