Hello.
Nice to meet you guys. This is my fast post...

I'm having some trouble rigging two legged Robot.
Its really hard to explain, so I've posted a image.
As you can see below this is the robot.

My goal is to animate this robot's Legs with only rotating the "Crank Shaft" in middle of the robot and the "Link puller" at the back.
Well, I was able to do that Before adding the "Link A" & "Link B".

According to the designer, the "LINK A" is constrained to the body and leg.
"Link B" is constrained to "Link puller"(which rotates in Y) and the Leg.
When "Link puller" rotates, "Link B" pulls the Leg towards the body(rotating the Leg at "Joint B" in X & Z),
making this Robot its self to turn....

I've tried many constraint and actually using bone and rigging this robot, but none of my attempts worked..

It would be really Great if anyone can give me a suggestion to solve this.

This is my second time using Maya to do any 3D work. Also if my English is wrong please bear with me. I'm not a native English speaker as you might be able to guess from my name...

Thank You for reading this post!!!

By the way, we were able to build this in REAL word... but not in 3D..