Walking Mechanism Using a Klann Linkage
The Klann linkage is a six-bar mechanism that can be used in walking robots that simulate the gait of spiders or crab-like animals. It was patented by Joseph C. Klann in 1998 .[more]
Applications of the Klann linkage to simulate a walking spider can be found in .
You can use this Demonstration to explore the geometry of the linkage and to find a combination of bar lengths that creates a foot trace around a sizeable horizontal region.[less]