Summary

Needed this for an upcoming project - may be of some use to someone for something

https://www.youtube.com/watch?v=FeUMAKdcA9Y&ab_channel=Ollie%27sThings

It was based on a design found in this paper, thanks guys: https://journals.sagepub.com/doi/full/10.1177/1687814017721854#:~:text=II%20is%20higher.-,Kinematics%20modeling%20and%20gait%20planning,similar%20kinematic%20expressions%20and%20gaits.