Leg mechanism

A linkage or articulated assembly that produces a leg’s stepping motion, often to propel a walking machine. Its geometry can approximate a useful stride without requiring a motor at every joint.

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Klann linkage: A six-bar linkage that converts rotary input into a walking foot path. Its compact geometry produces a leg-like stride from one rotating crank.
Strandbeest: A kinetic sculpture by Theo Jansen whose linked legs can walk when pushed by wind. Its many Jansen linkages demonstrate a leg mechanism integrated into a complete machine.
Kinematic chain: An assembly of rigid bodies connected by joints that constrain their relative motion. A leg mechanism is a kinematic chain shaped to produce a stepping trajectory.
Wheeled locomotion: Movement produced by wheels rolling against a supporting surface. Wheels use continuous rolling rather than a repeated lift-and-place foot trajectory.
Jansen linkage: A multi-bar linkage designed by Theo Jansen to make a leg-like walking motion. Its coordinated links approximate a long stance and lifted swing phase.
RHex: A six-legged robot with compliant, rotating legs designed for robust locomotion over rough terrain. Its simple rotary legs show an alternative to elaborate articulated linkages.
Revolute joint: A mechanical joint that permits rotation about a fixed axis while constraining other relative motion. Rotating joints connect the links in many crank-driven walking assemblies.
Continuum robot: A robot whose body bends continuously rather than moving through discrete rigid joints. Continuum bodies create motion through distributed bending instead of linked leg segments.
Chebyshev linkage: A four-bar linkage that makes one point trace an approximately straight segment. Straight-line segments can serve as the stance portion of a stepping path.
Quadruped robot: A robot that moves on four legs, using coordinated limb motion for locomotion. Leg mechanisms are components of many four-legged walking robots.