Flarenya - I think your main problem now is just the settings. Your most recently posted model works fairly reliably with the right settings. It needs much less wave speed, a little less wave amplitude, and a little less gravity, basically.
When making a walker, I usually start with zero wave speed and zero amplitude, and slowly add them. The same thing with gravity. It's better to start with a very "neutral" environment, and then slowly add things, than it is to start with a "hostile" environment and try to tame it, if you catch my drift.
And of course, as warptera said, the model would benefit greatly from being constructed using guidelines, or at least very carefully "eyed" to have exact parts. If you want a simple walkthrough of how to make the daintywalker, I've written one up at my website (linked to at the left). Just go to "Tips" and then "Constructing." Good luck.
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