A Lighter More Powerful Test Robot Dog

This is the next version of a test legs to check out how I can simulate a spring without an actual spring - by using a gearbox of the correct ratio so it can be back-driven. I’m using four bruhsless motors and two ODrive Robotics motor drivers to attempt to hold the positions with encoders. In the last attempt I also made the legs partially-compliant by using a PID controller with variable gain to drive the legs to a position they were back-driven to, which made them also actively back-drivable and more c