Wednesday, 10 March 2010

Leg is back together

The leg is now back in one piece, next job is to re-calibrate the encoders and give it a quick test.

We need to install some spiral wrap on the metatarsus before we can run the leg properly. The metatarsus lines now run outside the knee joint, as we were unable to get a sufficiently good rout through the joint without stressing the hose. Having the lines on the outside of the joint is ok, but it does mean they can come in contact with the sides of the leg, hence the need for additional protection, turns out it looks pretty cool too!