My leg is cooked.

I did not like my previous leg and now I am referencing this dog design because it has more degrees of freedom. The previous design only allowed the dog to shuffle NOT walk.

I want the dog to walk as in lift its feet off the ground. I also want it to be able to dance.

Apart from the fact that this linkage design is much cooler from my earlier design, it also will make the legs more lightweight because now, the servo motors will be attached to the chassis rather than at the knees.

While researching, I also realized some basic physics that will indicate the maximum load the dog can carry. That is: if the length of the leg is 100mm (10cm), then if I power it using MG966R which has a torque range of 10.5-12 kg * cm, then on that foot it may carry up to 12/10 = 1.2 kg or 2.4kg on two legs.

So, I learned that basically I need to keep the dog as lightweight as possible which of course I can do by: making the dog symmetrical, move the motors up, and ensure the design is optimized.

Now, the only problem I have left is uh building the linkage. It is the most important, so I want to get it right before moving on. I will test it using a plastic servo motor.

My status rn:😭