Very exciting to finally get all the parts in and machining finished so that I could finally fully assemble a prototype leg.  Couple of hiccups here and there but it will be fully usable for performance testing and the initial Shakedown cruise.  Once I fix a few assembly bugs I'll document how it is assembled.

Pictured Below:

• Custom NOMAD QDD Actuator with 10T drive sprocket
• Preassembled lower leg with molded foot, bearing and 14T driven sprocket
• Upper leg structure
• Shoulder mount
• Miscellaneous fasteners and washers
• Off the shelf 11s bike chain
• Chain break tool to shorten the bike chain

Here is the fully assembled leg:

Close up of the in-line chain tensioner mechanism: