Ok yes but not really... Picture this an inverted pendulum robot like a segway where a two wheel design is able to stand straight up and down. Now take a second segway and attach the two with a set of knees and a hip system. Lean the robots weight onto the first leg and lift the second. Then you can move the second leg where ever you want without it affecting the balance because the foot of the first leg is compensating. obviously there is a limit.
It seems to me that the passive walkers where more about designing legs that couldn't fall down or provided the balancing for the robot by rounding them and adding weights. I was thinking more of an active solution that would put the less emphasis on the entire body being in balance and just have a beefy motor in the ankle to force the robot upright. Now some of the more advanced examples I found for passive walkers might fit this description but I only saw one that got close and it was hard to tell.
As and after thought the pendulum system will need to be 2 axis unlike the segway to compensate for the higher center of gravity. So two motors in the ankles