This week, I worked hard on my first iteration of my walker and made a number of significant changes to its design. Initially, my goal was to complete the assembly of the final form of the first iteration of the walker. I had all the pieces ready and all that was left to do was to put them together. However, after I finished putting it together, I found out that there was a quite noticeable sag in the middle of the superstructure. This was quite problematic, as it could threaten the stability and the mobility of the robot. I soon started an investigation to find the source of the issue and discovered that this defect was caused notably by two factors: first, due to the fact that the legs were so far apart from one another, the middle portion of the robot didn't have adequate support and was hence prone to sagging; second, after discussing the issue with Mr. Judy, he pointed out that there was a need for larger washers in between each connecting pieces. After summarizing what I had learned, I decided to replace the leg compartments with new ones. The new design was to be shorter and much more compact than its predecessor. In addition, I also made corrections to the middle section of the superstructure, namely, the addition of larger M8 washers, to further reduce sagging. While most of the improvement process went relatively well, the shorter length of the leg compartment meant that some features of the older design were now obsolete. As a result, I also had to add new components to compensate for the loss of the older features. Unfortunately, though I was able to complete all of the pieces I needed for the assembly, I did not have time to start working on putting everything together. Hence, my main goal next week would be to finish the assembly of the improved version of my walker.