After an arduous and long process of completely redesigning my legs I am finally back to a stage of testing and programming.  I spent quite a large amount of time wiring everything up. I designed a new housing for the potentiometers which uses a pre-made dupont style pin header connectors to plug the potentiometer directly into. This design was to speed up the install of the pots, but also to address the limited lifespan of potentiometers. When they wear out they can simply be clipped out of the housing and a new one slotted in, without the need to solder.

The new design is pretty sturdy. Still a few minor bugs I need to work on with the potentiometer feedback. Interestingly I wouldn't have dreamed of doing my first crouch tests on a carpet but the feet are now big enough to give some leeway when it comes to the thing balancing. A short video, but many more to come: