Mechanisms in MechAnalyzer:
​The Jansen Linkage

1.

The Great Pretender - Theo Jansen
https://www.goodreads.com/book/show/5458187-theo-jansen

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Leg Mechanisms

2.

J. E. Shigley. The mechanics of walking vehicles : a feasibility study : final report
https://deepblue.lib.umich.edu/handle/2027.42/7574

3.

Y. Zhang, V. Arakelian. Legged Walking Robots: Design Concepts and Functional Particularities
​link.springer.com/chapter/10.1007/978-3-030-33491-8_2