I have done only research at this point. I have discovered the Open Dynamic Robot Initiative, and it has inspired me to re-create their two legged platform named Bolt. Their initial plans seemed out of my reach, and so I am making modifications to it. I did not want to have any machined parts in my build, this means that the gear attached to the motor will be replaced with a plastic one.

In an effort to make the project more budget friendly, I have looked for alternative parts. Mainly the motor, and motor controller. For the motor, I have purchased 2 of SunnySkies High Efficiency Brushless motor SunnySky V3508 380Kv, this motor provide a max torque of 0.349 Nm. This motor is cheaper than ODRI's T-Motor, and has more theoretical torque (0.27Nm)

I did not purchase a cheaper encoder, as I did not want to hinder any controls.

More updates to follow