Digileg. A pair of these are just what you need for that Minotaur, Satyr, Werecat or other animal-like costume.
Foot Study New Build by ~TheCostumeArchive on deviantART
Digitigrade Stilts. Might be useful for a satyr costume at some point.
New Build Digitigrade Legs 1 by TheCostumeArchive.deviantart.com on @deviantART
I have made a pair of these, and they are totally comfortable. I did make a few alterations to this artist's design, but she provides her twelve-page book as a free PDF download. Want awesome digitigrade stilts? Go here!
Digitigrade Hoof Stilts
Custom Digitigrade Stilts by CanineHybrid.deviantart.com on @deviantART
Realistic Movement Werewolf/Satyr Digitigrade by ChaosCostumes
Here are the completed legs from my most recent digitigrade costume leg build. The materials used to create these range from PVC Pipes, Wood, Metal Signs, parts of Window Frames, Hot Glue, Duct Tap...
Digitigrade Stilts for a faun or satyr costume. Look at InstilledPhear's channel for more cool costume stuff!