Abstract—The purpose of this paper is to propose new type of a kinetic chained walking robot capable of walking with only single actuator. Legged robots are able to move across irregular terrains, however, have an issue on energy efficiency compared with other morphology. A bio-inspired approach often provides effective solutions, for example, a lizard is able to mainly walk by utilizing only twisting its waist. To mimic this characteristic by robotics, a robot consisting of four-bar linkage mechanism is proposed. This idea improves simplification of its locomotion analysis. In this paper, a kinematics of the robot is derived, and two important characteristics are analyzed in order to propose locomotion ability and effectiveness of the robot. The analysis results are verified via numerical simulation.