Autonomous quadruped robot locomotion control using inverse kinematics and sine pattern methods

In this paper, it will be explained how to solve robot locomotion using inverse kinematics and sine pattern methods on autonomous quadruped robot with 3 DOF for each leg using geometrical approach. It also includes python code examples inside. By using inverse kinematic method, it could be found the angle for every actuator from end effector position by calculation within the method of sine pattern which can generates values group of end effector position in a pattern of sine wave. So that it could solve multi value problem on inverse kinematics.