The Main Body serves as the seating area for occupants, and also the place to host all electronic components. To achieve robustness, lightweight design, and fulfilling load-bearing capability, we will be using 80/20 aluminum t-slotted profiles to construct the main body's frame. It will be designed as a double-deck chassis, with a wood plank on top and an acrylic sheet on the bottom deck. A cushion will be placed at the top of the chassis, and all electronic components including battery, microcontroller, and motor for forward motion will be mounted on the lower deck. Since it must ensure passenger safety, an emergency braking button will be set near the cushion to mitigate potential risks and safeguard passenger well-being. A sample CAD design is shown below.

The legs will be the primary load-bearing structure of the entire system, serving as its foundational element to efficiently distribute weight. A sample CAD design is shown below. The main structure of the legs will also be made of 80/20 aluminum t-slotted profile parts. Each leg's foot will be 3D printed. The legs will consist of multiple segments with joints, allowing for bi-directional movement. Actuation of these joints, facilitated by stepper motors and linear actuators, enables the execution of walking and turning maneuvers.

The motion control system governs the locomotion of robot legs, prioritizing stability, equilibrium, and synchronized kinematics. We used an Xbox adaptive controller for user input. A Raspberry Pi 4 was the microcontroller to take input from the Xbox controller and deliver motor control signals to appropriate motors under the customized control algorithm. Arduino microcontrollers were used as intermediary controllers for the motors and will interface directly with the motor controllers to command them based on input received over serial from the Raspberry Pi. 

The power system consists of two independent power supplies, tied together on a common ground. A 24V power supply powers the actuators of the system while a 5V power bank powers the computational devices. Both supplies are tied together on a common ground and the 24V supply has an E-stop which can be used to break the connection between the two 12V batteries. The connection of batteries and associated electronics are pictured below.