This is from the Barney and Friends Season 1 episode "The Queen of Make Believe". It's heard several times during the song "I'm a Little Robot" when the robot moves/walks. I also have a clip from that episode. It's heard from 18:44-18:52, 19:30-19:36, and 20:09-20:12.
https://youtu.be/rwyT5Doie5Q?si=DXnbXkpBXztJUOo2
