Klann linkage.png

From what I understand about the linkage, it has 5 bars and the background making for 6 bodies, 7 single DOF joints and no 2 DOF joints making for only 1 DOF total.

Hence not a walker by the rules.

I don't think anything that uses a continuously rotating crank as a direct input can have more than 1 DOF otherwise it will be very wobbly and collapse.

​If you guys need any more just say.