Salient Features of Leg 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

The Torso Design Analysis and Testing

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.