Beside wheeled based platforms, ledged based platforms are one of considered problems which receives much attention from engineering and military. This paper presents a ledged mobile platform which considers optimal synthesis of a special type of twelve-bar linkages. Firstly, twelve-bar linkage with revolute joints is introduced. Then, genetic algorithm is used for synthesis the optimal lengths of twelve-bar linkage with the predefined trajectory. This type of walking machine remains in straight and curves motion in plane. Image processing and control on object tracking are applied on walking machine to help its performance automatically. The simulation and experimental results are presented to illustrate the effectiveness of walking machine.