This is a flash animation of one possible configuration of the Klann linkage. The mechanism is an expansion of Burmester theory that converts rotary motion of the crank to linear movement of the foot for one-half rotation of the crank and raises the foot for the second half, returning it to the starting point. Two of these linkages, 180 degrees out of phase, will function as a wheel replacement.

A single leg is a six-bar linkage that consists of the frame, crank, connecting arm, lower rocker, leg and an upper rocker. The ground points for the upper and lower rocker in this configuration are vertically in line to allow a coupled pair of legs to articulate like the front wheels of a typical car for steering.

A multitude of various other configurations are possible as described in the enabling portion of the patents that cover this linkage with alternate grounded pivot points in Mechanical Spider.