In this project, we adopted two-stage belt deceleration which can afford less gear gap and more torque. The whole structure was fixed by the bearing and 3D printed base on two carbon fiber plates connected by aluminum columns.  The motors were also fixed on the plate by screws and connected with the belt pulley through a customized motor shaft.

In order to communicate with motor drivers effectively we adopt UART as the protocol. With its simplicity and reliability, UART facilitates seamless data exchange. Key considerations include baud rate configuration, data frame format, error handling, and documentation. This robust communication method empowers motor-driven systems for optimal performance.

In this project, we adopted the VMC algorithm as the controller. The VMC algorithm treats each leg of the robot as a spring-damping model and treats the trunk with PD control. The key of this algorithm is to calculate the torque of the motor by the plantar force. Besides the force distribution of each leg is very important to the flexibility and robustness of robot motion.