After months of programming and frustration, the program to move the robotic legs is up and running. This was the most frustrating, agonizing, but most satisfying part of me coming back to school to finish my degree. I immensely enjoyed being a part of building something like this. My teammates did a fantastic job building the legs, attaching the servo motors and building the construct, all I had to do was program it.
Machining the feet 
Finished foot 
3D printing the parts of the legs and hips 
The legs mounted 
The legs in motion 
Control Board for the lower half
