I’m developing a wipe dropping walking robot that combines Klann mechanical legs with a Whitworth quick return mechanism to dispense cleaning wipes in timed intervals as it walks. The walker uses offset Klann linkages to create a stable gait, which are driven through a compact gear train and sector gear that convert continuous motor rotation into smooth forward motion. A Whitworth quick-return linkage at the end of the train converts that rotation into a push stroke on the dispenser, so wipes are released reliably while minimizing wasted motion and motor load. The full system was designed around manufacturability, budget constraints, and human centered use, with multiple design reviews and user tests influencing the final geometry and mechanism choices.