Get Your IK On03 Jan 2010
The Nearly Universal Kinematics Engine (NUKE) is finally out in a first beta. Right now our templates only support 3DOF Lizard-legged 4 and 6 leg robots, however 3DOF Mammal-style leg support isn't far off, and low DOF Biped support is in the works. This is the same system that powered Issy, Roz, and Jeff to take the top 3 spots at CNRG's Walker Challenge. It takes about 20-30 minutes to setup your bot once you get the hang of what's going on.
NUKE is written in Python, and it exports a C/C++ Arduino project that runs on the ArbotiX. NUKE can be downloaded from GitHub. Documentation is also on that site.