I've been trying to think of an easy and elegant way to convert wheeled motion to leg-walking. I think the right way is to control how the lowermost leg part has an extension mode, so that the vehicle can remain somewhat level over uneven terrain.
Should be easy with today's technology. Of course, nothing would beat the utility of the spider robot I designed about umpteen years ago. I'm surprised no one has built a few of those. They'd be perfect for farm work. You could go from picking apples to rescuing your tractor from a mud-bog.