A few years ago i built a little walking mechanism based on the Klann linkage. It worked well enough as a proof of concept, but wasn't useful for anything else.
Now i'm building another one, but harder, better, faster, stronger.
Intead of making it out of brass and small enough to fit on a hand, the new one will be made out of aluminium and stainless, and big and strong enough to carry tools, actuators or a payload.
I'm almost done with the mechanism itself, and it looks very promising.
this is how it looks loke so far:
Compared to the brass prototype: