A new synthesis method is presented for designing planar six-bar linkages that move a trace point through 11 points of a specified path. First, a planar RR chain is specified and its inverse kinematics are solved such that its trace point reaches the specified points. Each position results in a coordinated pair of joint angles which inverts the problem of path generation into function generation. Stephenson II 11 position function generators are solved for using homotopy methods. The solutions are then inverted back to path generators. We invert the Stephenson II function generator into either a Stephenson II or III path generator. The synthesis solutions are then run through an analysis routine to remove linkage defects. The new synthesis method was applied to the design of walking machines, and it discovered several new linkages that produce walking gaits.