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The Klann linkage is one of leg mechanisms which simulate the gait of legged animal. It was developed by Joe Klann in 1994.
This model can walk passively on the slope showing the effective energy consumption. Furthermore, ordinary Klann mechanism has two parallel cranks. However, this model was simplified to one crank with 90 degree phase differences and the minimum crank radius of one module in LEGO Units.
The smooth movements of link mechanisms were shown on the video.