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Integrating RPi-4B to MAX-E2 (Mechanical & Computing Aspects)

This is a status report on my project with the goal of integrating the RPi-4B with a MAX-E2. This first report illustrates some mechanical design issues that I encountered and how I solved them.
Hope that they can be of use to those interested.
YouTube video at https://youtu.be/jjMomyIlIHU.

9/16/2021 Update: This final report describes the computing aspects of this project such as: computing load sharing between RPi4B and CM-550, Motion Offsets and Joint Offsets values to keep robot in balance while it is walking.
The video link is at

For more details about this project and others, please look for my new book “Projects Guide for ROBOTIS Engineer - Vol. 2” - should be available in October 2021 from Amazon.