Jansen's linkage

The Jansen's linkage is a leg mechanism designed by the kinetic sculptor Theo Jansen to simulate a smooth walking motion Jansen has used his mechanism in a variety of kinetic sculptures which are known as Strandbeests. Jansen's linkage bears artistic as well as mechanical merit for its simulation of organic walking motion using a simple rotary input.

Animation of one leg

length of the rods

Animation of six legs

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