Digileg. A pair of these are just what you need for that Minotaur, Satyr, Werecat or other animal-like costume.
New Build Digitigrade Legs 1 by TheCostumeArchive
Custom Digitigrade Stilts by CanineHybrid.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!
Welcome to Digilegs, the Original Reverse Leg Stilts
Realistic Movement Werewolf/Satyr Digitigrade by ChaosCostumes -- in case you want to get really involved with your Halloween/cosplay planning
Digitigrade Hoof Stilts
Digitigrade stilts for a homemade Satyr costume
Digitigrade Stilts. Might be useful for a satyr costume at some point.