As you can see in the following images, Klann's foot-speed slows down significantly at each corner of its foot-path:
This causes robots using the Klann linkage to have a halting gait, which can be a problem on higher-friction terrain at higher speeds. One solution is to add feet that passively rotate as Klann's speed varies, like Strandbeest uses.
As you can in the following video, rotating feet also reduce how much the feet drag during turns, since the inner and outer feet can rotate at different speeds and function somewhat like a differential.
Strandbeest's foot-speed also slows at each corner of its foot-path, but less so than Klann's:
This may be part of the reason that Theo added rotating feet to Strandbeest?
Similar to Klann robots, adding rotating feet to LEGO Strandbeests smooths their speed:
Welcome to DIYWalkers! My name is Ben Vagle, I'm 18 years old and I've been building mechanical walkers since I was 11. I started this blog to share what I've learned, and to collaborate with you. Let's see if we can take walkers to the next level!