4 DOF Inverse Kinematics for Legged robot

    Hi Guys...
    I am hoping someone can help me. I am designing a walking robot that requires 4 DOF in its legs.


    I have solved the IK (With some help) using geometric methods, but the solution assumes that the Final part of the leg (Tarsus) will always be vertical.
    I want the last part of the leg to vary it's angle if it needs to, to allow for further reach in the foot target position.
    Can anyone help me with the last part of the IK?


    Please see attached Image and spreadsheet.



    Thanks in Advance.

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