Can you grab her and inspect her? look for a distended abdomen. Usually when they walk like a penguin, it means that they have a distended abdomen caused by accumulated fluid, they are internal layers which means that the eggs are not making it all the way out. There is an infection when the excess fluid cannot be absorbed and more eggs are released. it is a very hard situation because once the infection starts you will have to give her antibiotics, unfortunately the hens that are internal layers will always have this problem and don't live very long.
There could be some other reasons why she is walking this way, an inspection is due. If you don't know how a distended abdomen should feel, grab another hen, specially one that has just laid and feel her abdomen and then make comparisons. I truly hope your hen has some other issue that can be helped.