I don't even think it's that apparent. It takes us 2 years to learn to walk, even with millions upon millions of years of evolution designing us perfectly to do it.
Yes, but many four-legged animals can walk mere minutes after having been born, and this is a more valid comparison for the task facing a four-legged robot.
And, if you'll forgive me, here's one additional link for anyone who hadn't yet heard of Big Dog. (Unlikely, I know...) http://www.youtube.com/watch?v=VXJZVZFRFJc