On the first leg video I used Makeblock 37mm 12 volt DC motors bought at Radio Shack
when the stores closed. The gear motors were 12v with 4.5 Kg-cm rated torque,
50 rpms. They were hooked to a Parallax DHB-10 motor driver board. The newest
leg video I changed the motors to Actobotics 116 rpm @12 volts from Servo City.
Rated torque 11.5 Kg-cm., 100 rpms. These motor are faster, have more power,
and have encoders. The Parallax motor driver board I used supports encoders.
The black parts are printed in Matter-hackers nylonX at 30% fill and the
“part knee_below3” is what separated in two places. It needs to be lot stronger
as that was only 2000g or 4.4 pounds.
(2) leg testing - YouTube