I've just released the code for my Delta3 robot. It's based on the delta3 tutorial from trossen robotics (http://forums.trossenrobotics.com/tutorials/introduction-129/delta-robot-kinematics-3276/). Good for pick & place, drawing, machining, and more. Not strictly a walker but it does have three "limbs" so I filed it under tripods. Enjoy!
Delta3 in action