First Physical Prototype

The frame is assembled. Twelve ST3215 servos across four legs — three DOF per leg (hip abduction, hip flexion, knee flexion). All addressable and responding to position commands.

The frame is aluminium extrusion and 3D-printed brackets. Deliberately over-engineered for stiffness — I'd rather the structure be rigid and the joints be the only moving parts.

Next: mount the compute (Raspberry Pi 5 + Pi CM4 for real-time control), route the UART bus, and get the first gait running.