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GOLIATH 1 Frame

GOLIATH is a giant humanoid robot with 27 DOF, stabilized using Brent Batch's dual-spring stabilizers. It's designed to be a quick-and-dirty substrate for aesthetic builds--since it practically can't fall over, you can just build a skin over it without worrying too much about balance, and then put a bunch of poses on the controllers or use the walk cycle which is already programmed in.

Improvements GOLIATH null designate:
--Rebuilt the legs so that the bearings are now oriented "down"
--The new legs also reversed the order of each of the two ankle and hip joints (forward-back and side-to-side), making their behavior more intuitive
--This also lead to an improved walk cycle which balances the robot during steps so that it will take longer to fall over if you stop it midstride
--Added tires to the toe section so that the walk cycle is much less wobbly