Mechanical

6 DOF Arm + 1 DOF Gripper — Motor Selection

For faster progress, we will be temporarily switching to attaching a gripper instead of the 15 DOF hands for the arm.

		Rated Torque	Peak Torque
Shoulder (1-2)	AK10-9 V3.0	18Nm	53Nm
Elbow (3-4-5)	AK80-9 V3.0	9Nm	22Nm
Wrist (6)	GL40 KV70	0.25Nm	0.73Nm
Gripper (7)	GL40 KV70	0.25Nm	0.73Nm

---

Humanoid Leg (Work in Progress)

6 DOF Per Leg — Motor Selection

Joint	DOF	Motor
Hip	Pitch	AKH70
Hip	Yaw	RS03
Hip	Roll	RS04
Knee	Pitch	AKH70-48
Ankle	Pitch	RS03
Ankle	Roll	RS03

Hip

The hip design uses the F-A-R (Flexion-Abduction-Rotation) configuration for a compact and biomimetic joint arrangement. This configuration allows for efficient packaging of the actuators while maintaining the necessary degrees of freedom for humanoid locomotion.