diff --git a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.cpp b/firmware/MotionControllerRP/src/kinematic_models/kinematic_model_base.cpp
similarity index 100%
rename from firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.cpp
rename to firmware/MotionControllerRP/src/kinematic_models/kinematic_model_base.cpp
diff --git a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.h b/firmware/MotionControllerRP/src/kinematic_models/kinematic_model_base.h
similarity index 87%
rename from firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.h
rename to firmware/MotionControllerRP/src/kinematic_models/kinematic_model_base.h
index c4639ab..38a0126 100644
--- a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.h
+++ b/firmware/MotionControllerRP/src/kinematic_models/kinematic_model_base.h
@@ -9,11 +9,11 @@
 
 class Pose6DF;
 
-//--- IKinemtaicModel -------------------------------------------------------------------
+//--- IKinematicModel -------------------------------------------------------------------
 
-class IKinemtaicModel {
+class IKinematicModel {
   public:
-    virtual ~IKinemtaicModel() {};
+    virtual ~IKinematicModel() {};
 
     // returns the number of joints
     virtual int get_joint_count();
diff --git a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp b/firmware/MotionControllerRP/src/kinematic_models/kinematic_model_delta3d.cpp
similarity index 100%
rename from firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp
rename to firmware/MotionControllerRP/src/kinematic_models/kinematic_model_delta3d.cpp
diff --git a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.h b/firmware/MotionControllerRP/src/kinematic_models/kinematic_model_delta3d.h
similarity index 90%
rename from firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.h
rename to firmware/MotionControllerRP/src/kinematic_models/kinematic_model_delta3d.h
index e6b5919..788cf9a 100644
--- a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.h
+++ b/firmware/MotionControllerRP/src/kinematic_models/kinematic_model_delta3d.h
@@ -16,9 +16,9 @@
 
 class Pose6DF;
 
-//--- KinemtaicModel_Delta3D ------------------------------------------------------------
+//--- KinematicModel_Delta3D ------------------------------------------------------------
 
-class KinematicModel_Delta3D : public IKinemtaicModel {
+class KinematicModel_Delta3D : public IKinematicModel {
   public:
     KinematicModel_Delta3D();
 
@@ -46,4 +46,4 @@ bool circle_sphere_intersection(double r1, const Vec3F& p, double r2, Vec3F inte
 bool three_sphere_intersection(const Vec3F& p1, float r1,
                                const Vec3F& p2, float r2,
                                const Vec3F& p3, float r3,
-                               Vec3F intersections[2]);
\ No newline at end of file
+                               Vec3F intersections[2]);
diff --git a/firmware/MotionControllerRP/src/main.cpp b/firmware/MotionControllerRP/src/main.cpp
index ef10bad..683ba2a 100644
--- a/firmware/MotionControllerRP/src/main.cpp
+++ b/firmware/MotionControllerRP/src/main.cpp
@@ -18,7 +18,7 @@
 #include "robot.h"
 #include "utilities/logging.h"
 #include "utilities/frequency_counter.h"
-#include "kinemtaic_models/kinematic_model_delta3d.h"
+#include "kinematic_models/kinematic_model_delta3d.h"
 #include "version.h"
 #include "hw_config.h"
 #include "LittleFS.h"
@@ -161,4 +161,4 @@ void setup() {
 
 void loop() {
   main_core0();
-}
\ No newline at end of file
+}
diff --git a/firmware/MotionControllerRP/src/motion_control/path_planner.cpp b/firmware/MotionControllerRP/src/motion_control/path_planner.cpp
index 376271d..b85b433 100644
--- a/firmware/MotionControllerRP/src/motion_control/path_planner.cpp
+++ b/firmware/MotionControllerRP/src/motion_control/path_planner.cpp
@@ -12,7 +12,7 @@
 
 #include <algorithm>
 
-PathPlanner::PathPlanner(IKinemtaicModel* kinematic_model, float time_step) {
+PathPlanner::PathPlanner(IKinematicModel* kinematic_model, float time_step) {
   PathPlanner::segment_time_step = time_step;
   PathPlanner::kinematic_model = kinematic_model;
 
@@ -23,7 +23,7 @@ PathPlanner::PathPlanner(IKinemtaicModel* kinematic_model, float time_step) {
 PathPlanner::~PathPlanner() {
 }
 
-void PathPlanner::set_kinematic_model(IKinemtaicModel* kinematic_model) {
+void PathPlanner::set_kinematic_model(IKinematicModel* kinematic_model) {
   PathPlanner::kinematic_model = kinematic_model;
 }
 
diff --git a/firmware/MotionControllerRP/src/motion_control/path_planner.h b/firmware/MotionControllerRP/src/motion_control/path_planner.h
index 9064901..b48734f 100644
--- a/firmware/MotionControllerRP/src/motion_control/path_planner.h
+++ b/firmware/MotionControllerRP/src/motion_control/path_planner.h
@@ -14,7 +14,7 @@
 
 //*** CLASS *****************************************************************************
 
-class IKinemtaicModel;
+class IKinematicModel;
 
 //--- PathPlanner -----------------------------------------------------------------------
 
@@ -24,11 +24,11 @@ class PathPlanner {
     static constexpr int JS_QUEUE_SIZE = 32;
     
   public:
-    PathPlanner(IKinemtaicModel* kinematic_model, float time_step);
+    PathPlanner(IKinematicModel* kinematic_model, float time_step);
     ~PathPlanner();
 
     // sets the kinematic model for foreward and inverse kinematic calculations
-    void set_kinematic_model(IKinemtaicModel* kinematic_model);
+    void set_kinematic_model(IKinematicModel* kinematic_model);
 
     // adds a new cartesian space path segment to the planner queue
     bool add_cartesian_path_segment(const CartesianPathSegment& path_segment);
@@ -67,7 +67,7 @@ class PathPlanner {
     RingBuffer<CartesianPathSegment, CT_QUEUE_SIZE> ct_path_segment_queue;
     RingBuffer<JointSpacePathSegment, JS_QUEUE_SIZE> js_path_segment_queue;
 
-    IKinemtaicModel* kinematic_model;
+    IKinematicModel* kinematic_model;
     JointSpacePathSegmentGenerator* segment_generator = nullptr;
     float segment_time_step;
     LinearAngular junction_deviation;
diff --git a/firmware/MotionControllerRP/src/motion_control/path_segment.cpp b/firmware/MotionControllerRP/src/motion_control/path_segment.cpp
index 27c7402..f9adcf0 100644
--- a/firmware/MotionControllerRP/src/motion_control/path_segment.cpp
+++ b/firmware/MotionControllerRP/src/motion_control/path_segment.cpp
@@ -7,7 +7,7 @@
 
 #include "path_segment.h"
 #include "utilities/logging.h"
-#include "kinemtaic_models/kinematic_model_base.h"
+#include "kinematic_models/kinematic_model_base.h"
 
 //--- MotionProfileConstAcc -------------------------------------------------------------
 
@@ -248,7 +248,7 @@ bool JointSpacePathSegment::is_initialized() {
 
 JointSpacePathSegmentGenerator::JointSpacePathSegmentGenerator(
   const CartesianPathSegment* path_segment,
-  IKinemtaicModel* kinematic_model,
+  IKinematicModel* kinematic_model,
   float time_step)
 {
   JointSpacePathSegmentGenerator::path_segment = path_segment;
diff --git a/firmware/MotionControllerRP/src/motion_control/path_segment.h b/firmware/MotionControllerRP/src/motion_control/path_segment.h
index e5342a6..0f793c1 100644
--- a/firmware/MotionControllerRP/src/motion_control/path_segment.h
+++ b/firmware/MotionControllerRP/src/motion_control/path_segment.h
@@ -17,7 +17,7 @@ constexpr int NUM_JOINTS = 3;
 
 //*** CLASS *****************************************************************************
 
-class IKinemtaicModel;
+class IKinematicModel;
 
 //--- JointInfo -------------------------------------------------------------------------
 
@@ -127,7 +127,7 @@ class JointSpacePathSegmentGenerator {
   public:
     JointSpacePathSegmentGenerator(
       const CartesianPathSegment* path_segment,
-      IKinemtaicModel* kinematic_model,
+      IKinematicModel* kinematic_model,
       float time_step
     );
 
@@ -143,6 +143,6 @@ class JointSpacePathSegmentGenerator {
     float current_joint_pos[NUM_JOINTS];  // current joint positions
 
     const CartesianPathSegment* path_segment = nullptr;
-    IKinemtaicModel* kinematic_model;
+    IKinematicModel* kinematic_model;
 };
 
diff --git a/firmware/MotionControllerRP/src/robot.cpp b/firmware/MotionControllerRP/src/robot.cpp
index 2bc6075..c94e0f3 100644
--- a/firmware/MotionControllerRP/src/robot.cpp
+++ b/firmware/MotionControllerRP/src/robot.cpp
@@ -10,7 +10,7 @@
 #include "hw_config.h"
 #include "utilities/logging.h"
 #include "utilities/utilities.h"
-#include "kinemtaic_models/kinematic_model_delta3d.h"
+#include "kinematic_models/kinematic_model_delta3d.h"
 #include "servo_control/homing_controller.h"
 #include "servo_control/actuator_calibration.h"
 #include "pico/multicore.h"
@@ -779,4 +779,4 @@ void Robot::process_calibrate_joint_command(const GCodeCommand& cmd, std::string
 
   bool ok = calibrate_joint(idx, store_calibration);
   reply = ok ? "ok\n" : "error\n";
-}
\ No newline at end of file
+}
diff --git a/firmware/MotionControllerRP/src/robot.h b/firmware/MotionControllerRP/src/robot.h
index fd2abfe..b78efe1 100644
--- a/firmware/MotionControllerRP/src/robot.h
+++ b/firmware/MotionControllerRP/src/robot.h
@@ -130,7 +130,7 @@ class Robot : public ICommandProcessor {
     RobotJoint* volatile joints[NUM_JOINTS];
     spin_lock_t* joints_spin_lock = nullptr;
 
-    IKinemtaicModel* kinematic_model;
+    IKinematicModel* kinematic_model;
     PathPlanner path_planner;
     MotionController motion_controller;
     CommandParser command_parser;
@@ -146,4 +146,4 @@ class Robot : public ICommandProcessor {
 
     FrequencyCounter servo_loop_frequency_counter;
     FrequencyCounter motion_controller_frequency_counter;
-};
\ No newline at end of file
+};