Task 9.2a : Airfoil-shaped fuselage in nature

To programming of new webGL cobotics system "Turbulence"

Purpose of development is a simulation demo 4 :
http://goo.gl/sqSK5e
It's a collaboration work with web developer Lo-Th : 
http://goo.gl/TYfIwU
Please watch in GitHub : 
http://goo.gl/u5rKQX

This is a planning video of details of demo 4 development

First sequence : 
Master François Junod’s Mechanical Horse in Spain project.
http://www.francoisjunod.com/

There is many amazing creativity.
It is also like the Cambrian Explosion of mechanical elements.
Please attention to the joint of rear legs.

Next sequences :
I show an exceptional linkage of the formula of voluntary movement here.
to α2α3, I named “Divine joint”.
This joint is also present in the joints of the rear legs of Francois's mechanical horse.
This was an important key to reach the theorem of voluntary movements.
In other words, this special joint, was transformed into a body linkage.
Task 3.1 : Horse galopping « http://goo.gl/Auppyj »

Inverse Kinematics is a necessary technique to analysis for increased uncertainty. in here, I used CCD algorithm for solving it.