Abstract: A type of novel usage,4U parallelogram mechanism designed as a whole to be biped walking mechanism, is proposed.Each of the biped walking 4U parallelogram mechanisms in the category is composed of four mechanical members and four universal joints,and planar movements can be accomplished.Three kinds of configurations are classified according to different combination manners of universal joints.Based on a preliminary study of the configurationⅠ,the degrees of freedom of configurationⅡandⅢare obtained by screw theory.Kinematic analysis,gait analysis and stability analysis are carried out for the two configurations respectively.Moreover,the performance and application of the three kinds of configurations are further analyzed and compared.In order to prove the feasibility of the three kinds of configurations and their motions,their dynamics models of configurations are established and the whole motion periods are simulated with ADAMS.Two prototypes are manufactured and the desired motions are realized.