These legged machines were designed using the algorithms described in the publications below.
- M. Plecnik and J. Michael McCarthy, 2015. “Synthesis of an Inverted Stephenson Linkage to Guide a Point Path,” 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, October 25-30, 2015. (link)
- M. Plecnik and J. M. McCarthy, 2016. “Design of Stephenson Linkages that Guide a Point Along a Specified Trajectory,” Mechanism and Machine Theory, 96(1): 38-51. (link)