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Figure 2: Gear system with spring and rubber feet
Figure 3: Additional initial design
Taking these dimensions and ideas, the first prototype that was created was a single leg to ensure that the motion was achievable. A CAD model was designed for just one leg and includes an input gear, an idler gear that transfers motion from the input, and a leg gear (L2) that receives the transferred motion to move the leg. Figure 4 below shows the initial model in Solidworks.
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