A .NET (C#) library to control walking robots with inverse kinematics

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The idea of this project is to build a library written in C# to control walking robots. It should provide a few key features like easy extensibility (simply implement custom walking patterns), support any leg configuration (the way the model looks like and how the legs are aligned) and also different kind of DOF (2, 3, 4 for example). And it should be open source, of course...

Currently I've built a hexapod with 3DOF wooden legs, which is controllable with my PS4 controller over a CrazyRadio dongle. I'm still working with this robot, albeit it is planed to build a more sophisticated one with 4DOF and 3D printed parts and a Raspberry PI2 as it's "brain" :)

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