Over the summer, Ryan in the MakerSpace has been working on re-building the legs to be stiffer to torsion, which seems to be the primary failure mode of these legs - the lever of the wheel twisting against the body.  We decided to use bicycle head-sets for the joints, which consist essentially of two sets of bearings and races, separated by some distance.  You can see them in the image below.

The legs are made from 1x2 aluminum bar stock, and the head tubes/steer tubes from 34mm (ID) and 1 1/8" (28.5mm) ID aluminum pipes.  Shoutout to Clayton, a Trinity student, for his excellent aluminum welding skills.

Now that the mechanics are set, it's time to re-work the electronics, using what we've learned from the TRIPPY and TIGER-OSR builds in Summer '25.  For now, I'm re-using the custom 2-layer RCB (Routed Circuit Board) from the old TIGER rover, as shown below. 

PCBWay reached out to me about sponsoring a new spin of the TIGER control board, and I just finished designing that one, so I'm excited to see how that works out - I haven't had a board made in a few years, since we've been routing our own, but they've gotten cheap enough that it's sometimes better to let the professionals handle it :)