Just wanted to add a very quick update. I took a break from working on this project for a number of reasons, but I have been preparing to ramp up progress on this over the last few months. I had a crushing realisation that I needed to completely redesign the legs if they are ever going to walk and the prospect of spending that much time on something I had already done was very disappointing. Basically the legs need to be mounted into the waist completely differently to prevent wobble as the structure was not rigid enough. Basically any YAW type movements on my machines have proven to be difficult to build at home, but i think I have overcome this with a very sturdy design. I also bought a CR-10 and had to get used to the settings. The parts I print can't be done at the usual pace because they are too large and each joint would take weeks. I now have some great settings and am currently redesigning the cogs for the large joints. This is to give them greater torque and a smoother more controlled motion. This should help with stability and make programming walking easier. I am also happy that the CR-10 can print larger parts which means I can combine parts in one print rather than bolting parts together. This will also lead to a greater rigidity as there will be less joins on the legs.

      I hope to post some real updates after the long weekend. Just wanted to make sure anyone who is following knows I am still designing and printing :)