Optimizing the Jansen Linkage
Still tweaking my optimizer for Jansen (Klann) walking linkages. I started posting some of the more promising optimizations at http://boim.com/Jansen/Favorites
I have yet to see a similar site offering alternate dimensions for a useful Jansen Linkage. These linkages were tweaked to spread the legs out for more stability, while trying to maintain a fairly constant walking speed, flat step, high active cycle, and decent step height.