- Klann linkage page: http://www.mekanizmalar.com/mechanicalspider.html
- Notation for solution using circcirc() function in Matlab or Python.
Theo Jansen Linkage
- Paper from Pomona College on optimization of a slightly simplified (for ease of manufacturing) Jansen-like linkage with a nice gait. This paper also discusses the original Jansen linkage and some other related walking linkages.