Single motor walking robot uses four linked Chebyshev linkages

Jim Tegart wrote to share some info on a walking robot he has made. He writes:

Chebysev, a Russian mathematician invented a walking mechanism circa 1870. A Russian website claims it as the first. Various websites have animations (see the May 30,2016 entry on The Automata Blog) and some attempts to make a functioning model. Here is my contribution to the technology. A single motor drives four linked Chebyshev linkages tromping across my kitchen table.

It's not an easy thing to make a four-legged walker with one motor.

Here is the Wikipedia entry for the Chebyshev linkage.

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