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In conclusion, the prototype proved the viability of the 8-bar mechanism for a walking robot with a dynamically adjustable gait. Moving the adjustable joint up and down in the vertical slot has a very noticeable impact on the stroke length when observing the traced lines left by the foot on the paper. This prototype also demonstrated the potential of a simple joint design using only a bolt in a precisely dimensioned hole. This approach is much simpler and cheaper than using bearings, but is quite sensitive to small changes in the hole diameter. Optimized joint design, minimized cantilever length, electronics, and the stroke length adjustment mechanism will be the main areas to focus on for the final design.