Leg 1.0 keeps both motors at the hip and drives the knee with a push rod, so the lower leg stays light.

Video: Leg 1.0 tour

Since then the design has moved to the knee motor sitting at the knee (1.0c to 1.0e), which cuts the parts per leg from 21 to 10. The first printed parts are a fit check of 1.0e in gray PLA: the thigh with the knee-motor housing and vents, and the shank with its end-stop tab.

Thigh and shank from above

Thigh vents and the printed shank beam

Not everything printed the first time. The hip mount failed partway through when two tall, thin tree-support trunks came loose from the bed. The fix was sturdier tree supports, wider branches and a raft that merges the support feet into one large base.

Video: My 3D printer cooked me spaghetti

Next up: the torque test on the motor stand, then a heat test on the knee motor, which simulation says is the part most likely to run hot.