The robot’s initial limb design lacked structural integrity, particularly in the joints.
Extremely thin legs and insufficient torque tolerance prevented effective load-bearing and dynamic locomotion.
Leg Version 2
Dimensional miscalculations led to non-optimal linkage angles, causing excessive energy consumption and postural instability.
The limb configuration resulted in unnatural gaits, compromising both aesthetics and balance.
Leg Version 3
Introduced an integrated envelope receptacle module—a sealed cavity designed to accept letters, enabling basic human-robot interaction scenarios such as message delivery.
This adaptation added a layer of real-world utility without compromising gait stability.
Leg Version 4
We pivoted to a serial linkage mechanism, abandoning the prior parallel structure.
This configuration allowed for torque centralization near the robot’s core, improving power efficiency.
However, the increased degrees of freedom introduced complexity in gait planning and inverse kinematics, making locomotion harder to control.
Leg geometry was refined for enhanced ground contact stability and smoother joint articulation.
