The hip flexion/extension is the movement that makes the leg go front-to-back. In pib this is done by a single motor on each side, which is located on top of the hip inside the body. The idea is to use a two-stage concept for connecting the motor to the actual joint:

• the cycloidal gear is directly attached to the motor and acts as first stage

• the output-shaft of the cycloidal gear is connected to the leg via a belt

Here, the connection of the cycloidal gear to the hip and motor should be created.

Acceptance criteria:

• The cycloidal gear can be connected to the hip and the motor

• The output-shaft of the cycloidal gear provides the correct belt-adapter

• The output-shaft is connected to a new ballbearing 6804-ZZ 20x32x7 mm