Hux
The first 2D sheet (R23): side, front, plan and stroke of the V1 machine at the settled geometry, drawn from the same numbers the working drawings and the sandbox use. It records the 2026-09-27 direction — one step is the finish line, a brisk walk is the pace, the knee motor stays at the knee — and settles where the eight actuators sit. Everything in red is a dimension; everything in a readout is computed, not typed.
Locks carried on this sheet: 9.5" × 9.5" step (R3), 6" wheel, 7.5" + 7.5" carbon tubes (R34), 24" × 14" envelope (R15 / R35), hip roll in V1 (R16), roll axes ≤ 3" (2026-09-26), the temporary RobStride set, 8S. New on this sheet: the hip band, the leg plane, the knee inboard and the swing motor outboard, the axle spacer, the pack 1" forward. Not locked by this sheet: tube OD / wall, fittings, the spring, wire ports, the head's shape — those are Sheet 2, after this one is agreed.
Planted leg at the 92% stance with the hip over its axle; the raised leg placed on the next tread at the rear of the slot, which is where the landing is aimed (a forward error is the failure mode). Grey leg is the raised one. Motor boxes are the vendors' housing envelopes. The red cross is the lump picture's centre of mass.
Looking from the front at the same stance. The hip band is two RS02 roll housings on their axes 3" out, flanking the pack; the head sits above it. Each yoke reaches out to the leg plane. The knee RS02 hangs inboard of the tubes, the hip-swing RS00 outboard. The RS05 is drawn at its real length, which is more than the tire is wide.
From above, forward up the page. Roll housings behind the swing axis with their flanges forward into the yokes; the pack between them, 1" forward. Knees fold to the rear. Dashed outline is the 8" × 7" head.
Every pose the step needs, drawn from one hip. The annulus is the leg's reach between the knee stop and full extension. The green pose lands the raised wheel in the next slot; the brown one is the rear leg at the end of the shove — the reach that decided against a five-bar leg.
| Item | On the sheet | State |
|---|---|---|
| Hip roll axes | 3.0" from the centreline, fore-aft, in a 9.1" hip band under the 7" head. The roll hold with one wheel up is ~6.3 N·m against the RS02's 7 rated. | Drawn to the requirement |
| Levelling during the shift | New finding from this sheet: the wheel planes are 3.375" outboard of the roll axes, so the 24° parallelogram roll lifts one axle and drops the other by 2.8". Equal leg lengths no longer keep the body level (they did within 0.8" at the old 5.4" axes); the legs take up the difference as part of the shift. The sandbox now does this by feed-forward and settles the poise; the control core needs the same term. | Controls |
| Leg plane and yoke | Tubes at 4.75", 0.2" clear of the roll housing's outer face; a short yoke from the flange out to the hip pivot. | Layout |
| Knee actuator | RS02 on the knee joint, inboard of the tube plane so it can never meet the tire (R39). Gravity spring at the knee, ~2.2 N·m. | R39 |
| Hip swing actuator | RS00 outboard of the leg plane at the hip; its outer face lands on the 14" envelope. | Layout |
| Pack and body CoM | 8S pack low in the hip band, 1" forward of the roll axes — the offset that restores the throw window with the real leg masses. | Layout |
| RS05 in the wheel | 44 mm long in a 31.75 mm tire: 0.24" proud of each face and 0.24" past the envelope. Either a wider tire on the same 6" bead, or the hub carries the stator inboard. | Hub drawing |
| Head shape | 7" wide above the band, 9.1" at the band: the roll housings are proud of the head's faces by 1.05" each side. Pods or a wider lower shell — a styling call. | Sheet 2 |
| Tubes, fittings, spring, wire ports | Not on this sheet. Tube OD / wall, the end fittings, the spring type and the R21 wire ports are Sheet 2, after this sheet is agreed. | Sheet 2 |
| Stair candidate | The 2D climb is still a rejected candidate on spatial reach (model-corrections.md); this sheet draws the poses, it does not validate the gait. | Controls |