given x amount of frame/second how to predict the position of appendages in a walk/locomotion gait? especially pelvis/spine the main stuff and how it moves up down and rotate towards the dominant
looking the basic function that defines the exact value of those given arbitrary limb size

ps: i think i read robotics and ik and that is about a single chain kinematics not the whole body i dont know how to make it into a walk or maybe im trying to read backwards to learn bio/skeletal mechanics than robotics