NEW Mechanisms in the pipeline, removing ankle servo in favor of utilizing a chain linkage to the hip actuator to sync hip and ankle movements inversely. New designs, new CAD model for the foot. New Shin redesign. Due to heat strain on hip roll servos, a aluminum heatsink will be added, may require further cooling solutions in the future. Removing the ankle servos saves weight, distal mass and complexity of bus protocols. All in all, simpler is better and this new redesign is elegant and simple.