Comparison of crank based leg mechanism/Walking

static walking vs. dynamic walking

As stated before, a cranked based walking mechanism must or at least must/should be able for static walk.

Here is an example for static walking and dynamic walking:

• 
  a galloping horse is an example for dynamic walking. There are phases, where no foot is in contact with the ground.
• 
  at least two feets are always touching the ground.

As the machine has to start from a stand still and can not adjust it´s stride during walking, static walking is the only viable option.