Inverse Kinematics involves calculating the joint angles needed to move the legs to a specific position, this can be achieved by using a geometrical analysis. However, this alone will not allow mechDOG to walk; for this, we will need to synchronize the motion between the legs and include some additional factors.
This is a companion discussion topic for the original entry at https://community.robotshop.com/blog/show/mechdog-kinematics-trajectory-synchronization-gaits