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Definitely doing two legs consistantly would be more advanced than doing 4 legs. That's part of why I'm sure many of the testing walkers are 4 legged. As to the more expensive, my assumption there is that the cost of the legs is not in structural support, but in the servos. For example, take...

Well, one has to look at the tradeoffs. The most obvious of course is, well, more legs. But each leg still probably needs to be about as complicated with two as with 4. So, if each leg needs to be about as complicated, that suggests each leg may be about as expensive. So, assuming the legs are...