# Leg 2dof v2
<img src="images/2dof_leg_v2_cad_1.png" width="300"> <br>

## Description

## 3d Printed Parts

<img src="images/printing_direction.png" width="400"> <br>

`The recommended printing direction for all the parts below is the positive z direction of the stl files.`

* All the STL files for 3d printing the leg structure can be found here: [STL Files Leg Structure](stl_files). <br>

---
<img src="images/hip_module_shell_base_1.png" width="450"> <br>
* [Hip Module Shell Base - STL file](stl_files/hip_module_shell_base.STL)<br>
* weight: 27g
---
<img src="images/hip_module_shell_cover_1.png" width="450"> <br>
* [Hip Module Shell Cover - STL file](stl_files/hip_module_shell_cover.STL)<br>
* weight: 15g
---
<img src="images/upper_leg_module_shell_base.png" width="450"> <br>
* [Upper Leg Module Shell Base - STL file](stl_files/upper_leg_module_shell_base.STL)<br>
* weight: 27g
---
<img src="images/hip_module_shell_cover_1.png" width="450"> <br>
* [Upper Leg Module Shell Cover - STL file](stl_files/upper_leg_module_shell_cover.STL)<br>
* weight: 15g
---
<img src="images/lower_leg_1.png" width="450"> <br>
* [Lower Leg v2- STL file](stl_files/lower_leg_v2.STL)<br>
* this lower leg is meant for printing with "sparse double dense" setting
* [Lower Leg Documentation](../general/lower_legs.md#lower-leg-v2)
* weight: 20g
---
<img src="images/lower_leg_2.png" width="450"> <br>
* [Lower Leg v3 - STL file](stl_files/lower_leg_v3.STL)<br>
* this lower leg is meant for printing as a solid part
* [Lower Leg Documentation](../general/lower_legs.md#lower-leg-v3)
* weight: 20g
---
## More Information
[Open Dynamic Robot Initiative - Webpage](https://open-dynamic-robot-initiative.github.io)  
[Open Dynamic Robot Initiative - YouTube Channel](https://www.youtube.com/channel/UCx32JW2oIrax47Gjq8zNI-w)   
[Open Dynamic Robot Initiative - Forum](https://odri.discourse.group/categories)  
[Open Dynamic Robot Initiative - Paper](https://arxiv.org/pdf/1910.00093.pdf)  
[Hardware Overview](../../README.md#open-robot-actuator-hardware)  
[Software Overview](https://github.com/open-dynamic-robot-initiative/open-dynamic-robot-initiative.github.io/wiki)  

## Authors
Felix Grimminger

## License
BSD 3-Clause License

## Copyright
Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University