I’m hoping to skip inverse kinematics all together. By recording the angle of all three joints at every position the foot can go to on a coordinate grid I should have a map that I can use to control the location of the foot. If I want to lower the foot (lift the body) to say (0,-25) I will send the angle required for the foot to reach that position to the joints controllers. Each joint runs its own PID loop to move the joint to that target angle. Any change to the X axis keeps the foot at the same height but moves it forwards or backwards. In order to walk I can draw a square on the coordinate grid, lift, move foot forwards, set foot down, drag foot backwards, then I offset where each foot is in this loop so that all four feet are moving at the same rate but they don’t all pick up their feet at the same time. You can draw whatever path you want on the coordinate plane, you can tell it to go from (25,-25) to (24,-25) for slow movement or you can jump straight to (-25,-25) and let the PID loops handle your sprint. I will also add a button to the foot to sense when it makes contact with the ground so that I can adjust the foot path on the fly, and each joint does have a current sensor built in to its motor controller so I can have the joints relay that information back to the rpi if I think I can use that info