Quadruped robot dog IK

Hello everyone please some one teach me how to make robot dog? With inverse Kinematic using Arduino code! So I found 3D model from https://grabcad.com/library/diy-quadruped-robot-1
I don't know how to inverse Kinematic this model can someone teach me this model inverse Kinematic like other model?

I want to make robot dog I research everywhere but don't have any references to be understand! Just help me I want make it one!:

Try asking on this page...

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there is information online

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Thank you

Thanks you

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