I just added the assembly instructions for the leg on github.

All information is at the following links:

• N7 Anvil assembly docs.
• Goat assembly docs.

N7 Anvil assembly

N7 Anvil Knee assembly.

N7 Anvil Leg assembly.

I have developed a new stronger structure to reduce the effects of mechanical deformation produced by the linear actuator.

You can see the difference between the two models in the following images:

I've been giving a talk about Drakkar at the Madrid Mini Maker Faire. [slides]