Rollingstep Walker

We already know the Klann linkage, Theo Jansen / Strandbeest linkage, Chebyshev Lambda / Plantigrade, Ghassaei, Strider, Trotbot, and many more, which are all designs for walking mechanisms using single rotating crank and several bars connected with hinges. I tried yet another mechanism, using the common 4 bar linkage but with the foot link shaped such that the contact point is not constant. While the movement is advancing, different parts of the foot will touch the ground, like the heels and toes of human foot. This is similar to the rolling step technique used by marching bands, hence the name.

A vehicle could be propelled with 8 legs. I printed two copies of half a vehicle and mounted them on an acrylic plate. For the electric parts I used 2 DVD spindle motors, 2x 18650 lithium batteries, Arduino nano, HC-05 bluetooth, and robot controller board with 2 H-bridges.

Video:
https://youtu.be/hQ1YsS6fH44

The linkage bar lengths and foot shape are not optimized yet, this is just