Nice work. I like the attention to detail and functionality. This must have taken a while to make. I think I was the first to rate this scene (10/10) but didn't have much to say at the time.
Yes, I noticed with the Evans linkage that a short straight line input provides a longer straight line output. The green link at the first input actually swings an arc. The deviation of the arc from a straight line is about 0.000150.
Very impressive. This walker is strong, fast, and smooth. If you slow down the simulation speed, you can see that it is actually running and there are times when no feet are touching the ground.
I checked out your rotary collision engine. Nicely done. Maybe I should have searched better before making this one, but now I can better appreciate your design.
1. Disable clouds.
2. Make invisible feet 20kg/m2.
3. Select all axles. Make allowDirectSolve = false.
4. Set simulation frequency to 250.
5. Get rid of drag weight.
6. Use 1 motor to power everything.
I'm not sure if I understand your question. If you are talking about the third bearing, then it is a plain bearing. I added spokes to make its function clearer. The fourth bearing has axles for each ball. I'm not sure how that would be done in real life, but tried it anyway.