Quantity   Component name
1 × arduino arduino pro mini equivalent board
1 × 74hc240 main swing oscillator and ankle motor timing elements
3 × yellow motor 90 degree angle dual output shaft gearbox
1 × L293D Interface and IO ICs / Peripheral Drivers and Actuators
1 × 5 volt boost converter
1 × Lithium battery charging module
1 × voltmeter module
1 × 433 MHz radio modules
1 × lithium ion phone battery