Inverse kinematic model help?

Im nearing the half way point of my arduino quadruped robot but im not sure on how i should move my servos to achieve a walking gait.

The robot has 8 servos, 1 in each shoulder and “elbow” like most typical arduino quadruped robots do.

I was thinking of moving the servo up gradually and then down however i would rather prefer if i had a specific movement to follow, like a certain line that i could use as an input for the kinematic and calculate at what angle to move my servos.

So basically im wondering if anyone knows a line equation or something of the sort to effectively move my servos and achieve a walking gait by using that equation as an input for the inverse kinematic model.

Any and all help is much appreciated 🙂

submitted by /u/HShahzad108277
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