Everythings wrong… I’ve just managed to finish the linear actuator mechanism and whilst looking for a motor, I found out that the other motor that I was looking for the hip joint has the wrong torque. Was looking at the 5010 360KV and calculated for the 760KV. I have to redesign the gearbox again, which is not ideal. So I’ll recalculate everything and improve the gearbox. All’s well that ends well!