In this project, we utilize planetary gear which was retailed as parts for an electric wrench to be the reducing mechanism of the hip motor. We redesigned the whole crust to settle it on the motor and connected the sun wheel with a custom motor shaft.

For the shank motor, we adopt a synchronous belt reduction mechanism. It enables exceptionally smooth motion, ensuring precise control and accuracy in various applications. This mechanism significantly reduces noise levels during operation, making it suitable for environments.

In order to construct FOC algorithm we need to get the motor rotor angle. It can be provided by magnetic encoders which can communicate with MCU by IIC signal. We design the whole structure by UG and fabricate it with the 3D printer.

The robot's construction primarily features a combination of plastic components and carbon fiber tubes. This design choice offers a compelling balance between structural integrity, weight efficiency, and cost-effectiveness. The plastic elements provide versatility in shaping and housing various components, while the carbon fiber tubes contribute strength and lightness, enabling the robot to be agile and robust in its operation.