I went back to the drawing board.

I analyzed/sketched how the robot dog legs work. And I know it’s crazy, but I was confused what that small little linkage leg was for.

I realized the servo #1 was controlling the little linkage leg in order for the robot to bend. The analysis was really helpful particularly with how I should design the shapes of my leg because I was too busy looking at the details/aesthetic of the linkages that at the core, the linkages are really just circles or rectangles .

What I plan on doing to avoid CRASHING out is to literally just get the key linkages. I will focus purely on the mechanics before stressing about its appearance

My mood: 😐(I still gotta model this in CAD)