Torso Assembly

In this first section, you'll learn how to assemble the core of the robot, mount the PCBs and wire up all the motors and components.

---

1 - Placing the Boards

The first steps on the assembly will happen on the torso, which is the core part of the robot where all the main components are mounted and wired up.

Take the Torso-Bottom part, and place it in front of you with the flat side down, and the v1.0 label facing you.

Let's start by placing the PCBs!

The Motor Driver

Place the Motor Driver PCB in the top-left corner of the torso, with the 4 Paw connectors towards the center of the torso.

Screw the motor driver in place using 2x M2.5x4 screws.

The Analog Reader

Place the Analog Reader PCB in the top-right corner of the torso, with the 4 Paw connectors towards the center of the torso.

Screw the analog reader in place using 2x M2.5x4 screws.

The Paw boards

Place the 2 Paw Boards in the center of the torso, with the motor driver and analog reader connectors facing towards the center.

Screw the Paw boards in place using 2x M2.5x4 screws (1 per board).

The IMU

Place the IMU PCB in the center of the torso, with the cable towards the back of the torso.

Screw the IMU in place using 2x M2.5x4 screws.

The Buck Converter

Place the Buck Converter in the back of the torso, where the "v1.0" label is.
Make sure the input (IN) side is facing towards the back of the torso, and the output (OUT) side is facing towards the center of the torso.

Screw the Buck Converter in place using 4x M2.5x4 screws.

---

2 - Placing the Motors

The Hip-Roll Motors

Take 4x MG996R motors with a cable length of 10cm. These will be used as the hip-roll motors for the robot.

Place the 4 Motors on the sides of the robot, making sure the output shaft is towards the outside.

For each motor, use the 4 included screws to secure it in place. The screws should go through the holes on the motor and into the holes on the torso.

---

3 - Wiring the Motors

Each Paw Board has 2x3 connectors for the motors. Here's the motor assignment when looking at the connectors from the center to the outside of the torso :

• The first connector (near the
  
  Paw Icon) is the hip-roll motor connector.
• The second connector is the hip-pitch motor connector.
• The third connector is the knee-pitch motor connector.

Connect the Hip-Roll Motors on the torso to the first connector of the nearest Paw board.

The Hip-Pitch & Knee-Pitch Motors

Even if the hip-pitch and knee-pitch motors will be mounted later on the legs, we need to connect them to the Paw boards now for the next step (the zero motor calibration).

Connect each hip-pitch and knee-pitch motor to the second and third connectors of the nearest Paw board respectively, even if the motors are not mounted yet.

---

4 - Wiring the Boards

Now that all the boards are screwed in place, it's time to wire them up.

Wiring the Motor Driver

Take 4 JST-PH 3-pin cables. These will be used to connect the motor driver to the 2 Paw boards (2 cables per board).

On the Paw boards, locate the

Motor Driver Icon, and plug the cables into the connectors.

Please make sure to connect the top-right Motor Driver connector to the top-right Paw board connector, same thing for the bottom-right, top-left, and bottom-left connectors. Otherwise, the legs will be wired incorrectly.

Wiring the Analog Reader

Take 4 JST-PH 4-pin cables. These will be used to connect the analog reader to the 2 Paw boards (2 cables per board).

On the Paw boards, locate the

Analog Reader Icon, and plug the cables into the connectors.

Please make sure to connect the top-right Analog Reader connector to the top-right Paw board connector, same thing for the bottom-right, top-left, and bottom-left connectors. Otherwise, the legs will be wired incorrectly.

Wiring the Buck Converter

Now that the motor driver and analog reader are connected to the Paw boards, it's time to connect the Buck Converter to provide power to the motors.

On each Paw Board, you'll find two large wires with Ring Terminals at the end. These are the power wires that need to be connected to the Buck Converter.

Unscrew the Buck Converter output (OUT) terminal screws. Insert the two red wires from the Paw boards into the + terminal, and the two black wires into the - terminal. Make sure to tighten the terminal screws to secure the wires in place.

---

5 - Back & Power Board

The torso is assembled and wired up, but we still need to install the power board and its cover on the back of the torso to give power to the entire robot.