This week, I made considerable progress in the assembly process of the legs of my walker. First and foremost, I was able to complete the task of putting all 4 legs together. I also made a number of improvements on the design of the joints for the walking mechanisms and the legs themselves. For instance, I replaced the screws that were meant to fill the gaps with washers of the same size. One of the main issues I discovered is that whenever the walking mechanism was rotating, the screws would rotate as well. Depending on the orientation of the movement, the screws would tighten or loosen the joints. This would either cause the whole mechanism to fall apart or would led to it being stuck. Another change I made to the legs was the replacement of some of the screws with longer ones. This allowed me to better secure the joints with lock nuts, which would not have been possible with shorter screws. Aside from the changes made to the joints, I also managed to complete the soldering of all four motors I needed for the locomotion of my walker (the last one has yet to be delivered). Initially, I had some trouble in securing the wires to the metal connectors of the motors due to their relatively small size and the meticulous work soldering required. After a while, however, I became more accustomed to it and I was able to press on and complete this task in time. Shortly after soldering wires for the motors, I moved on to work on the design of the superstructure. Following Aaron's suggestion to lower the center of mass, I came up with a design in which the top of the hull (which is pieced together with the lower half using screws) was joint to the boxes located on either side of the leg compartments. By doing so, I would decrease the height at which the center of mass is located while leaving the design relatively unchanged (initially, the hull was supposed to go on top of the craft; hence, the screw holes are located on the top side of the compartment). Furthermore, this hull design would allow me to disassemble the whole robot if maintenance was necessary while still offering a strong link between the legs and the superstructure. In preparation for future plans to incorporate the ability to turn to my walker, I also separated the hull into 2 pieces with linkages in the middle that can be modified to either allow for a fixed hull or free movement of the front part of the robot. In next week's periods, I plan in finishing the design of the hull and to scale it to the appropriate size. Then, I would print it out, assemble it, and test out the walker's ability to stand and move without the help of a supporting piece. Once that is done, I will then work on designing the feet for my robot. I am very excited and look forward for the completion of my walker 

^^