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This paper proposes three robot leg swing trajectory models as a test of periodic balanced motion on a new medium-sized four-legged robot design called "Kancil-V2", which has 4 arms with 2 freedoms (4 x 2-DOF) with an overall weight of 5kg. The robot is tested by using all three algorithm swing trajectory models. From the simulation results, the proposed robot can run well on a flat surface while maintaining its balance. Testing of robot movement is carried out by moving the robot forward a few seconds, then backward so that the sequence of the swing trajectory model can be determined which can return to its closest starting point, namely: first is the Parabola model with a distance of -0.1259, second is the Xin Jin model with a distance of 0.5473 and the third is the Triangular distribution model with a distance of 0.5322.