Today, I built the test rig used to experiment with the different motions of the leg. At first, I wanted to build a structure with four support beams. However, I wanted to keep it as simple as possible, so I decided to go with a three leg support platform. Next, I had to figure out the height at which the leg would be hung. While I wanted to allow the leg to walk, I decided to place it higher because I needed to create the walking motion first. I could then make the ground level taller or driller another whole at a lower point. 

After completing the test rig, I tried to reinforce the structure holding the motors. I wanted a material that would be strong enough to not crack but thin enough to fit and light enough to not increase the weight. I found that the thin transparent plastic sheet fitted many of the qualities that I had been looking for. However, when I cut out the pieces and fitted it to the motors, I found that the material was too soft and flimsy. In the end, I deemed that this addition was not absolutely necessary and I scrapped the idea.

At the end of the day, I looked at what Luis sent me about the Arduino code used to control the motor. Due to time constraint, I did not have time to complete the analysis. I intend to complete it during the weekend. Next week, I plan on working on the code and the movement of the legs. I hope to finish the coding part of my project before pencils down.