Thanks I'm glad you like it! The legs are actually based off of this really good video I happened to watch before the jam:
Basically, you make the legs stay still and have a desired position for each leg from the body, then when the body moves, if the distance between the leg position and the desired position is more than a certain distance, it runs the animation and steps. Then there is some weird stuff with making sure it doesn't step when the leg next to it steps and some other tweaks I did to make it look a bit better.