I'm building a LynxMotion Scout biped and believe that IK are the best way to develop an effective gait.

I'm a mechanical design engineer - I currently have minimal skills / experience with programming, which I am looking to improve.

Does anyone have any suggestions for IK resources for bipeds that would assist my learning / knowledge of IK? (I have already searched online, with little success).

I would really appreciate any pointers or resources you can provide.