Walking cargo platform

UPD 07/11/21: The archive with STL models has been updated. Added a new femur, new covers, new grids for mounting electronics and a case for the battery. The robot is now powered by a 3S battery through buck converters, wiring diagrams will be added later. Added an archive with models for converting the platform into a walking rover. In the first part, you can see the replacement of the power system and the assembly of the control panel for the platform - https://www.youtube.com/watch?v=zzjLTr3RoPg Added a list of components with links. _________________________________________________________________ This is a project of a universal walking platform with a carrying capacity of up to 5 kilograms. Controlled by a wireless PS2 gamepad. Assembly video: 1) https://www.youtube.com/watch?v=XX-YGdbLRh4 2) https://www.youtube.com/watch?v=C_nxCPMWlyc Firmware from Mark's hexapod project - https://www.thingiverse.com/thing:3463845 Added the ability to adjust the speed and step height, just like on the APC (my previous hexapod). The robot is now powered by a 40 Ah 1S battery through boost converters. Later I will put together a head for this robot, which will have solar panels mounted on it. Their voltage will be small, which is why I used a 1S battery. But I figured out how to raise the voltage of the solar panel. Therefore, soon I will remake the power system for a 3S battery and powerful buck converters. Then I will add more photos and wiring diagrams. Here you can also find the archive with the project of my power distribution board - "Gerber_PDB V1.1". If you want everything to look good, you can order its production, it is not expensive. Just remember to specify double the copper track thickness so that the board can handle more current. There are 18 servos listed, but I would recommend picking at least 20 - just in case. I used 9 Swing 5300 batteries, but they can be swapped out for 18 18650 cells. When assembling the legs, I us