Does the physics system support a walker

I am trying to build a walker simulation in Unity3D. I tried 4 legs and 6 legs. The walking is done with transform animation and it works fine, especially for 6 legs. But the game object doesn’t move. I have set the physics materials for both legs and floor, to some crazy high fractions, but it doesn’t seem to help.

You can see in the gif, that they are walking, but it doesn’t move. Anything need to turn on to enable this kind of simulation in Unity?

Here is the gif.

85438-walker.jpg

In the gif it looks like the legs are moving freely on the sides of the torso. Wouldn’t they need to “push” the torso, while beeing attached in a more rigid way, in order to actually move the torso forward? The torso does move up and down while the legs transform on the y axis, so it would probably also move forward when the legs would actually push. Prevent them from moving on the x axis and try to rotate them on that axis.