6 x odrive (24v, custom firmware)

1 x teensy 4

1 x mpu6050

Hip Adductors: 4 x 8308 with 7:1 reduction

Shoulders: 4 x 8318 with 5:1 reduction

Knees: 4 x 8308 with 7:1 reduction * 1.5x via chain/sprocket