A legged vehicle includes a body, wherein the body includes a major axis corresponding to a primary direction of travel; a plurality of leg mechanisms attached to the body, wherein each leg is attached at its proximal end at one or more discrete attachment points, wherein the attachment points are arranged in-line, one behind the other, with respect to the body, each of the legs including actuators attached between the legs and the body and between adjacent leg members, said legs being actuated for movement of a distal end in three dimensions; a control system in communication with the leg mechanisms to coordinate movements of the leg mechanisms according to approximately single track foot placement, and movement of the legged vehicle in three dimensions over the ground; and a power source connected to and driving the control system components and the plurality of actuators and joints which drive the legs.