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Okay, so the special "puppet" group object gives you procedural animation. That only works on a humanoid skeleton--though you can add to it and take away from it, if you want the foot to "walk" there has to be a lower and upper leg connected to a pelvis.
You can make any rig you like, like a spider. But it would be difficult to get it to work with that procedural animation right now.
That said, you can still make the rig and put it in the puppet group, and animate it by hand.