Mechanical Design

• Coupled joints for torque sharing between actuators
• Use of bearing to reduce loads on motor shaft
• Mechanical constraint on orientation of legs
• Increased foot area for stability
• Leg brackets provide increased work area of legs

Features of the torso design:

• Provides housing for Intel NUC, IMU, SSD and batteries
• Has extensive slotting to reduce weight

As we can see from the CAD analysis of torso,distortion in the normal direction has a maximum value of 6.15e-004 mm(negligible).Therefore,it is a stable and robust design.