The framework of the robot is made of 3mm acryl-sheets where the different parts got cut
out. Alltogether there are 14 servos, but only 12 degrees of freedom (DOF). In the hip,
two servos per leg are working together in one movement (both controlled by the same
signal) => more power and a better stability. 4 standard servos (Sanwa 1301, 31Ncm) and
3 servos of the type S71 (ModelCraft S-71, 71Ncm) enable the movements of one leg. My
target for this construction was to get as far as possible to the same moveability like the
lower part of the human body. I also paid attention to keep all the parts easily removable.

	2 servos for one degree of freedom
	green: standard, red: S71