Mondo Spider walking machine

This walking machine is known as the Mondo Spider. More information is available at Mondospider.com.

The leg of the mondo spider has the topology known as a Stephenson six-bar and is described in US Patent 6,260,862 awarded to Joseph Klann. Access it through the link:
http://www.google.com/patents/about?id=70YHAAAAEBAJ&dq=6,260,862

Wikipedia calls this the Klann linkage which is described here:
http://en.wikipedia.org/wiki/Klann_Linkage