Abstract: Kincmatic structure and function are taken into consideration in legged mechanisms studying from avicwpoint of less energy consumption.Two classes of criteria have been used in evaluating and choosinglegged mcchanism which belongs to closed loop planar linkages and has few number of links.The first oneof the criteria states the limitation of the mechanisms,the reguircment of kinematic structure and the function of the leg.And the propcrty cvaluation is included in the second criteria.