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I wanted to make something that utilized this linkage system and used some stuff from the book. I went ahead and made 2 pairs of these Klann linkages in order to maintain the most balance. Initially, I thought about making the walking mechanism have four legs like a horse. But then I recognized that synchronizing all of the legs to be in the right place and distributing the motion to the front and back of the model would be rather difficult to do, especially with the materials being cardboard and cardstock. So I modified the order and made all of the links be aligned on the same axis so that there will always be two feet touching the ground and up in the air. To make sure this wouldn't just topple over, I decided to add a pair of supporting wheels in the back.
Figure 3: Organization of the Model
In order to distinguish between which leg was supposed to be on the ground and in the air, I labeled them X and Y. Therefore, in this configuration, the two middle Y legs will always be synchronized and have the opposite position as that of the X legs on the outside.