This is part 4 of my new Mini 3D Printed Robot Dog project. I've decided to put my Robot Dog, openDog, on hold for now and ...

Inverse Kinematics (IK): The process of computing the joint parameters required to attain a specified end-effector position and orientation. Degree of Freedom (DOF): An independent mode in which a ...

The inverse-kinematic algorithms should be embedded in the controller as subroutines, so they’re automatically called at the proper times to execute the transformation.