pheww the robot legs are done and ready to 3d print each joint uses a parametric slew motor which are driven by 550 type dc motors or nema 17 stepper motors (your choice) because I just made an adapter so you can use either and they are to be used with l298n h bridjes and an ezb or converted arduinos.
These are the size of a human.
I am waiting to 3d print them as my printer is broke. the part is coming any day now. These legs use 12 gears and 12 dc motors but can also be driven with 6 as the motors will still turn with 6 motors.
Enjoy There free to download