That was what I was thinking of, exactly. The only problem I'm running into is that I need each one to be able to support about 50-75lbs so that each foot array can support me as I walk without toppling over, while still being small enough to fit in the constraints of the ankle.
Speaking of which, while trying to figure out how to get the ankle to give a little as I walk so that I can stand easier, it occured to me that Skate Trucks would be perfect for that. As such here's my new ankle design
with some Titanium ones they should be strong enough to support the weight of each step while still being able to tilt as needed. The best part is, because of how they're designed, they'll only tilt when pressure is applied correctly, so they won't be loose as I lift my foot!
Additionally there you can see my two separate ideas for making the feet pads adjustable. The first involves pegs to physically move the foot pad up and down like a crutch height adjustment. This method, however, is prone to wobbling along the axis, but is simpler to design and smaller to the frame.
The second is the better option, but I don't think I have the room for it, which is to make the foot pad adjust similar to a chair, with a central pillar that moves up and down. The problem with this design is in order to have the variable height I'd need, I have to have a minimum height equal to the total travel distance, which I simply don't have space for.
In addition, I have acquired a...serviceable obj file, that I have printed for reference and will be segmenting to use for pep until I can find better models.
