Zenta

So far I've not paid much attention to the leg design, simply because this is more like a "proof of concept" project, especially when it comes to the walking part and most of all the kinematic algorithms. At the beginning I tried a basic normal knee leg design, using standard Lynxmotion brackets and parts. Here you can see the 5 DOF (Degrees of Freedom) normal knee design:

The nylon gear on the top is a part of the low profile axis (LPA-01) from Lynxmotion, that will be the 6. DOF. I've named the joints/servos like this (from ground and up):

1. Ankle Roll
2. Ankle Pitch
3. Knee
4. Hip Pitch
5. Hip Roll
6. Hip Yaw

The normal knee legs mounted under the ICS module:

I temporarily connected the servo wires to the ARC board without tying them up with wire mesh guard / sleeving or anything. For testing the basic functions and during calibration I often use a laboratory power supply. Especially when using LiPo batteries I always check for short circuit and the main current draw when using the lab power supply at first.

Check out my first workshop video where I'm demonstrating (at 07:30) some basic body movements. 

 I soon realized that Archer should be a Mech style robot and thought that reversed knee might look better. For saving time I simply used the same configuration, I just replaced the feet with some larger (from ARF-01 to ARF-02) feet for better stability and defined reversed walking direction in the code.