Klann's Linkage Dimensions

Thank you for your amazing creation, Joe Klann!

​Below are the linkage dimensions from Joe Klann's patent along with a LEGO approximation.  Also, you can find a Klann linkage optimizer and other configurations of Klann here.

​1. Patent's standard version, with Klann's linkage measurements scaled so that the crank's length equals 3:

​
2. Standard Version - LEGO Approximation used for Klann Ver 2:

Note: the angle of the knee's bend (B5 to B7) is 29 degrees

Klann's Standard Bar Lengths, Patent vs LEGO

Below are the foot-paths, and the speed of the feet when in contact with the ground.  Klann's foot-speed varies a lot, and the feet essentially come to a stop at each corner of the foot-path.  Here's one idea to reduce the speed variability.

Linkage from Klann's Patent and a LEGO Approximation

Simulation of our LEGO approximation of Klann's linkage, which is built below in LEGO