@singhaman1750 I cannot reply inline to your question.  Not sure why.

But in response to: 

"Thank you for your response. It was really helpful.

I also observed that the chain you are using are not the standard 0.5 in chains, which are used in non-geared bicycles. If I am not wrong you are using lighter chains which are used in geared bicycles. Is that correct? How do you design sprockets for the lighter chains?

Thanks and Regards. And all the best for the project. "

There is nothing special to profile of the super light chain.  The main difference is that they use hollow pins and have some weight reducing material cutouts.  It is the same sprocket for the standard weight chain that was prototyped as well as this lightweight variant.  The obvious downside is that the maximum torque that can be applied to the chain will be less, but I expect in the use case for NOMAD robot will be far less.  Does this answer your question?

Thanks!

Hi! Great progress. I was looking forward to your project update. 

How did you cast the feet. I mean:
What is the material? And, what is the process?
Thanks.

Sorry for the late response but I did not get notified of your comments.  To answer your question the feet are Silicone Rubber that are vacuum cast.  I have tried various short hardnesses between 40A and 60A.  These equate to roughly a pencil eraser (40A) to tire tread(60A).  The 40A seemed a bit too soft and would most likely wear quite quickly.  The 60A was hard and worked fairly well but the impact forces from my jumping test seemed a bit too harsh.  So I settled on the 45A as the best compromise between all of the variants.  Also being a bit softer it has a slighter better grip and slips less.

These parts were outsourced and made at the factory oversees, but there is no reason this couldn't be made at home with some Smooth-On silicone rubber compound in a 3d printed mold.  The foot parts are actually one of the more critical parts of the robot that is often overlooked.  It is where the primary impact force comes from, is responsible to reduce slipping and is generally a wear item.  This seemed like the best/easiest/cheapest method for quick foot replacement.  Also since I can cast at different hardness and they are easy to replace in theory I can have different foot types for different environments.

Thanks for following!

Thank you for your response. It was really helpful.
I also observed that the chain you are using are not the standard 0.5 in chains, which are used in non-geared bicycles. If I am not wrong you are using lighter chains which are used in geared bicycles. Is that correct? How do you design sprockets for the lighter chains?
Thanks and Regards. And all the best for the project. 

Beautiful! Looking forward to the next update!

Thanks!