I just couldn't resist posting an update up to show the progress of the 'Mark II' legs design.

 Spent much of the weekend printing and designing. I also started prepping and soldering the electric motors for the legs. I was keen to see how rigid the structure is with the new pelvis and have not been disappointed. It is a long way from walking anywhere but the leg is very rigid, even with no power to the motors. Picture demonstrating standing up on one foot, so to speak:

As expected, the new gear ratio is lovely and smooth when I drive them directly with a battery, but the leg will still be able to move fast enough to walk and do all the normal things a robot might want to do, such as gangnam style. Actually my robots will never be reduced to such buffoonery.