The image below shows the Jansen linkage, including the specific lengths of each of the struts.

This video shows a conceptual rendering of a Strandbeest mechanism implemented in a bicycle-like device. Of all the reference materials we have found so far, this one gives the most insight into what our device would look like, but it provides little to nothing in terms of technical detail.

This video shows another conceptual rendering of a Jansen-linkage bicycle, with only two legs (one on each side).

We also found several papers detailing projects involving the use Jansen's leg mechanism.

Dynamic Analysis and Modeling of Jansen Mechanism was a very useful resource for analysis in this project. We borrowed and adapted many techniques used to determine the dynamic forces involved in the Jansen mechanism.

In Ghassaei's report The Design and Optimization of a Crank-Based Leg Mechanism, the design and fabrication process of a linkage based on Theo Jansen’s work is discussed. The paper includes Mathematica analysis, and comparison to the Theo Jansen mechanism. 

The Mechanics of Walking Vehicles by Joseph E. Shigley summarizes the method by which a walking mechanism can be synthesized. Various requirements are laid out at the beginning of the paper, including stride length, step height, and vehicle velocity. It focuses on the importance of graphing the path of the locus followed by the foot of the mechanism when designing the linkage. Simplicity of the mechanism is also emphasized; simple pin joints are preferred over more complicated joints such as a cam groove. While we are not designing a linkage from scratch the method used in this report will still prove useful when designing our mechanism.