This volume contains the proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics, held in Udine, Italy, from September 11 to 13, 2018. It includes recent advances in the design of mechanisms and their robotic applications. It covers topics such as mechanism design, mechanics of robots, parallel manipulators, actuators and their control, linkage and industrial manipulators, and innovative mechanisms and robots along with their applications. This book can be used by students, researchers, and engineers in the relevant areas of mechanisms, machines, and robotics.