This week, I worked to further improve some of the aspects of my walker. For instance, I trimmed the wires connecting the motors to the motorshield. This was done in order to prevent the possibility that they might get entangled when the motors are driving the legs forward. In addition, I also attached metal wires to the hatches of the leg compartment. These were very much needed, for the before the changes were made, these pieces were loose and had a tendency to fall off. By adding the metal wires, I was able to solve this issue while keeping them removable for an easy extraction of the motor from the leg compartment. During this week I also worked on a third addition to the robot that was used to coordinate the rotation of the motors. This was meant to make all of the motors turn at the same time and to prevent the case where some of them might be rotating faster than others. While I was able to design the gears needed for this system to work, I did not have time to print the pieces out in time due to the long queue time on the laser printer. While waiting to print off the gears pieces, I tested the walker's ability to move. Sadly, a number of problems caused it to be unable to walk properly (mainly that the motors are not coordinated). As a response to the lack of stability while moving, I created feet that would allow the walker to stand better on 2 legs and, hopefully, while moving. Unfortunately, I did not have enough time to conduct further testing. Next week, I plan to make major changes to the body. Judging from the results of the test, the walker would be much more effective at walking if the body consisted of only one piece rather than two separate pieces. I would have to sacrifice the turning system in order to ensure that the walker can walk. Furthermore, I also have plans to implement the system that would coordinate the rotation of the motors next week.