Brooks Coleman researched various alternatives for valving, while motion work by David Santos and James Perez proceeded on the desktop testbeds.
Below, from left to right, a battery powered compressor, valving, pressure vessel made from a 2 liter soda bottle grided with fiberglass tape, air cylinder, and leg segment (thigh) model.
The 3 Degree of Freedom Robot Joint is the basic building block of the ProtoAndroid's kinematic structures.
The Electro-Pneumatic Power Unit consists of compressors, air reservior, sound encapsulation, batteries, and charging circuitry. The desktop testbeds give control engineers something to work with while the shoprats work on the actual body.
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