What the results of the analysis will look like mechanically is shown below. Notice that to move the position of C in an arc, it makes sense to have a link controlled with an actuator.
If we wanted to couple all three legs on one side to have the same stride length we can use a six-bar mechanism to do that.
We want the grounded joint positions on each side to change in alternate directions along the arc as seen on the right. This will give us a long stride length on one side and a short stride length on the other.
Ty, transition this into the functional design, material choices, and packaging.
Paragraph from poster: We designed this robot to be fabricated nearly entirely out of 3mm acrylic to make use of the time-friendly laser cutter. The drive motor is coupled to all six legs via three D-shafts, timing belts, and pulleys. The driving links of each leg have alternating D-profile holes to make the phases of each leg in line for proper walking. The two six-bars reside inside the robot's chassis and a steering system is made with a servo, hollow aluminum shaft, some laser cut acrylic, and ball joints. The use of the shaft and a total of four ball joint connections is a design change that we had to make do to the lack of rigidity in the six-bar mechanism. There are absolutely no ball-bearings used in this design. All joints were made with only bolts, low friction PTFE washers, and machined Delrin spacers, with the exception of some bronze bushings used for shaft bearings. Rubber washers were added to the feet to increase traction. The motor and servo will be controlled via a microcontroller and transmitter/receiver system.