Hexapod Walker — Side-View Gait & Inverse Kinematics (2D)

This is the 2D companion to the top-down 3D Hexapod Walker, and it deliberately re-derives the robot from a side profile instead of flattening the existing scene. Each of the six legs is an independent two-link chain whose knee angle is solved with the same law-of-cosines analytical inverse kinematics as the 3D sim, driven by a shared gait clock that schedules which legs are in stance (planted, pushing the body forward) and which are in swing (lifted, arcing ahead to a new foothold). Switching between the tripod gait — two alternating groups of three legs — and the wave gait — one leg lifted at a time — changes both the visible leg choreography and the live gait-timeline diagram beneath the robot, which plots stance and swing for all six legs over time so the coordination pattern that keeps the machine statically stable is directly visible.