This image illustrates the breadboarded circuit we used to test reading the limit switch outputs from the Raspberry Pi GPIO pins.

This image illustrates the physical protoype assembly of the leg made from 80/20 aluminum t-slotted parts. the two aluminum parts are joined together using rotational joints.

This image illustrates the CAD design of the foot which will be 3D printed. The two large holes are to accomodate the bolts to connect the foot with the leg. The smaller hole is to accomodate the wiring for the limit switch which is located at the base of the foot.