How could I program spider movements?

Question

I am programming a spider that needs to have a realistic movement. I am currently using this site as a guide on how the legs should move, but I'm not sure how to implement it.

http://www.mechanicalspider.com/comparison.html

I know that some of the points move in a sinusoidal motion, assigned to the value of x or y, and those that rotate around a fixed point are simple, but I do not understand how the lower two points of the legs move relative to other points. I am not looking for code here as an explanation of how this can be turned into code.

Feel free to ask if I'm not clear, thanks. I create this in the "Processing" section.

Answer 1

You can read about reverse kinematics .