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.