The picture is he

I mounted the knee gear motor, with the encoder on it.

http://igor.chudov.com/projects/Brid...-8111.jpg.html

All other pictures:

http://igor.chudov.com/projects/Brid...ntrol-to-Knee/

The motor basically hangs on the knee in a vertical position, and is
kept in one angular position by a brace, made up of steel angle and a
steel flat.

I tried running it from just a DC power supply, and it does run just
fine, moving the knee up and down, at least with pneumatic assist.

So, the next task is to put one more servo drive inside the cabinet,
which is a pain in the butt. I also need to route power and encoder
cable, which is also a pain due to needing to drill an extra hole in
the enclosure. I am afraid that drilling chips may short some piece of
electronics.

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