The municipality is spread across several villages, so you will want some form of transport beyond walking. ATAF bus lines connect the main settlements: line 31 serves Grassina, line 32 goes to Antella, line 33 runs to Bagno a Ripoli centre and La Fonte, and line 48 circulates entirely within the municipality.
Having a car makes exploring the surrounding hills and countryside much easier, particularly if you want to visit the smaller villages and farms off the main bus routes.