Initially, the legs will be made out of aluminum channel and later 3D printed. The image shows the initial leg design minus the holes on the upper leg for the motor wheel mount. The knee will have a gearhead motor and a potentiometer for feedback to the motor drive board. The potentiometer will be used to supply feedback of the knees position. A pressure sensor on the foot will supply a reading of how much force is applied to the foot which will be used along with an accelerometer for the information needed for dynamic balance.