Walker made his first pair of monkey bars in 1909 while living in Kansas City, Missouri, by tying rope between posts on his barn. He later toured the country with a circus, performing on his monkey bars and teaching others how to use them. He also promoted the use of monkey bars in schools and playgrounds.
Walker continued to perform on the monkey bars until he was in his 80s. He died of a heart attack in 1983 at the age of 94.