Brad

Sticky Note

The legs-feet are moved via [256] rod which is actuated via [255], which is controlled by the servo motor[309].

Brad

Sticky Note

Note the return spring in the shoulder mechanism. So when force is applied to 50, pulling 132 downward, this spring will return the shoulder-arm position to the default position.

Brad

Sticky Note

As with the shoulder, we have a return spring in the wrist to straighten the hand when force is not applied to cable [50].