most of this work has been done over christmas, but only now i found the time to at least do a quick tour around the bot. here are some highlights:

• arduino nano changed to raspberry pi 2 & wifi
• moved controller from back to hips
• added 16 channel i2c servo controller
• new foot construction adding an additional degree of freedom (DoF)
• reconstructed legs that are lighter and now take up new batteries
• power distribution board including i2c current / voltage measurement
• accelerometer and gyro sensor (i2c) moved to “belly” instead of neck
• added arms with shoulders (two DoF)
• changed spine, reduced complexity
• removed head for now (being redesigned)