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I made two attempts and my best attempt only made one leg work due to the difficulty. Here it is: (Click on the video to play it)
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- Notice that the upper part of the blue linkage has some kind of compliance so that it doesn't fall. I have ignored this effect in my analysis as it makes it much complicated and contributes only to keep the leg not move too much downward.
- The red link rotating motion is faster through halfway of the motin, and when it reaches the angle limits it is slower.
- The leg motions are better displayed on the creator gif. , and it also shows the backward motion is faster than the forward.