Top stomach HS-805BB servos replaced with 12volt 260 rpm gear motors.
Both HS-805BB servos on top stomach replaced with 12volt 260rpm gear motors.
Single H bridge motor driver drives 2 gear motors on individual channels.
Pro Mini used to provide single PID loop with square 10K ohm potentiometer for feedback.
advantage is greater control of acceleration/de acceleration of movements and overall joint speed from gear motor max rpm.
shown before alignment and coupling