This project aims to develop walking mechanisms for planar leg mechanisms featuring symmetrical foot-point. Brief study of wide range of walking mechanisms developed in past is used to develop mathematical model of single Degree of freedom spatial mechanism of walking robot. Researchers have contributed by using principles of robotics in the development of bipedal robot. The work has been done in design and analysis of walking mechanism. Hence the basic idea behind this project is to provide solution of kinematic and dynamic analysis and design methodology for the mechanism which can perform the task of locomotion on all terrain and can be easily produced and also economically feasible. All these factors when clubbed together, helped in construction of a complete mechanism.