That is a good piece of documentation for TokyPet dynamics.
Biomechanics of Quadruped robots video.
https://www.youtube.com/watch?v=w2WeRMiCCBk&ab_channel=DerekStone
Biomechanics of Quadruped robots video.
https://www.youtube.com/watch?v=w2WeRMiCCBk&ab_channel=DerekStone