In this paper, a kinematic analysis of Theo Jansen’s stepping mechanism has been carried out and an algorithm for finding the output link trajectory from the given dimensions of the stepping mechanism elements, implemented by Mathcad program, has been developed. It is possible to output characterising parameters of all intermediate links with any number of intermediate links of a step cycle of the mechanism. The dimensions of the mechanism elements have been selected so that they provide the optimal smooth trajectory of the stepping point, minimising the mechanism oscillations in the vertical plane. A comparison of the trajectories of the foot in this study with the classical trajectory of Theo Jansen and the trajectory from article [7] has been provided. A minimum swing of the oscillation of the centre of mechanism masses in the vertical plane has been selected as an optimality criterion, combined with the maximum smoothness of the trajectory, provided that maximization of the step height is not required.