In the 5th Episode of my small walking robot series I show some kinematic models in Desmos, take a look at a laser scanner, replace some parts and tweak the robot's gait.

Links to Desmos.com are below

Favorite
https://www.desmos.com/calculator/rpnk0wnpvj

Serial Servos
https://www.desmos.com/calculator/psojw2muql

7-Bar
https://www.desmos.com/calculator/c9olhoognv

7-Bar #2
https://www.desmos.com/calculator/byfg9peual

9-Bar #1
https://www.desmos.com/calculator/fjyobq2sbg

9-Bar #2
https://www.desmos.com/calculator/fjyobq2sbg

9-Bar with co-located ground #1
https://www.desmos.com/calculator/54udgaalf4

9-Bar with co-located ground #2
https://www.desmos.com/calculator/aoqtqakrtf

9-Bar With Inversions
https://www.desmos.com/calculator/67muwkjehc