March 26th is a big day for the legs team: one full prototype leg was assembled out of all the components that were designed or purchased. Six 3D printed pieces: hip mount, upper and lower half of the upper leg, lower leg, and two motor mounts; four unique shafts machined in the shop, eight gears, four hubs, a bunch of 4-40 nuts and bolts, and some hot glue.
Where it started:
The full upper leg:
Upper leg connected to the hip:
Fully assembled, hooked up to a power supply, the team tested the hip joint first:
And then the knee joint:
Next steps for the legs team are adding closed loop control, integrating with treads/wheels, and making three more legs and connecting them to a chassis.