Quantity   Component name
18 × Dynamixel AX-12A Servo Motor
1 × Dynamixel U2D2+Powerhub board Motor Controller
1 × Raspberry Pi 4b Microprocessor
1 × 1300 mAh battery Battery for motors
1 × Portable Battery Battery for other components
6 × Spring Spring for legs
6 × Force Sensor
1 × Adafruit 16 Channel 12-bit PWM/Servo Driver For more pwm pins
1 × Rplidar 2D lidar sensor