Building a robot dog #1 Hardware, Inverse Kinematics

Sup guys it's nic here, in this series I will share my journey to develop a robot dog! Hop along!
Parts used for now:
Arduino Uno, PCA9685 16-channel servo motor driver, MG996R servo motors.
ATX power supply video: https://www.youtube.com/watch?v=vm0wx8H_7mg&t=122s
Adafruit pwm servo driver library: https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library

Part 2: https://www.youtube.com/watch?v=1xFajou-J3I

Видео Building a robot dog #1 Hardware, Inverse Kinematics канала Nic Aqueous