This is an article version, hence equations won’t look how they were originally written. The actual PDF version is available here. Background Readers should have a basic understanding or background in the following concepts: Basic trigonometry How to work with angles Basic programming with angles Motivation I have been building a bipedal robot over the summer of 2022. I have needed easy, simple, straight to the point resources on control concepts that are necessary to create walking gaits for the bipedal robot.