A gait replication apparatus can include a scalable mechanical mechanism configured to replicate different gaits. The scalable mechanical mechanism can include, for example, a four-bar linkage, a pantograph, a cam/Scotch-yoke mechanism, and so forth. In some embodiments, the mechanical mechanism includes a beam rotating about an axis passing proximate to its center, with a foot pedal slidably coupled with the beam, and a timing chain/belt or cable pulley-pair coupled with the foot pedal and looped about the beam. A method can include decomposing a foot path defined by Cartesian coordinates into polar coordinates, and providing a mechanical support for a foot, where a first mechanism controls an angular position of the mechanical support with respect to a reference frame, and a second mechanism controls a radial distance of the mechanical support from the reference frame.