Mammal geometry 2d inverse kinematics

Now that I have a mammal geometry leg moving, I wanted to get a better feel for what the overall performance would be in various gaits.  I had already derived position based inverse kinematics for Super Mega Microbot, but had no such derivation for force.  Here’s my jupyter notebook with derivations for both position and force (in 2D), along with average power consumption for various forms of straight walking gait with my current draft motor selections.

https://gist.github.com/jpieper/33bfc7e43f59cd293fc371d253ceaa71

And because I couldn’t get the notebook to embed a video through a github gist, here is a youtube video of the animation that is commented out in the middle of the notebook.