# Foot Installation

By opening up the geometry of the feet you will be able to integrate sensors on the feet like force and pressure sensors or even existing wheels. For an integrated installation there is a channel through the leg going which will allows you to push your cables through up to a diameter of 8mm.

<figure><img src="https://lh7-us.googleusercontent.com/docsz/AD_4nXcK6JsGkBIkyvvOKKMqsfCj4kBbz7ZXG2UjVHvPReAUFEeZs9QQYelDl7axSkN2JLr0P1X8C3fWbF19e1aEOoD9ELI5B17OzXdxLHqJaWA75ytgOe9ye3n9e-jb8Qe-6NDiTyHaZhXYiFMP0ZPNPTs4mN5R?key=uqd7CQzygHX4REyQNvsHfA" alt=""><figcaption></figcaption></figure>

{% embed url="<https://a360.co/3KD2zEU>" fullWidth="false" %}

## Feet modularity

The main requirement for the feet is their ability to interchange the shape for different types of grounds and to be customizable with sensors. The feet consist of two parts:

* Feet rubber: The rubber component of the feet provides traction and grip on various surfaces. It can be easily exchanged or replaced to adapt to different ground conditions. This flexibility allows for optimal performance in different environments.
* Connectors with screws: The connectors are designed to securely attach the rubber component to the rest of the robot's leg. They utilize screws for easy assembly and disassembly, enabling quick changes and customization.&#x20;

<figure><img src="https://lh7-us.googleusercontent.com/docsz/AD_4nXfBITBH8V4jcFEe5fLTDRuBaucoTzGOmrmCHQnM_Xdms0eNaXPkAeWbucP8M2rILZdwYBNGhmF2re0wOh8IM843dMPoVCTnZkFVw8EX_1aQae-O-OB-1UJMnidxeKTE_RIfhZBXyuyaWSua7O38oqb8dwh9?key=uqd7CQzygHX4REyQNvsHfA" alt=""><figcaption></figcaption></figure>

<br>

The feet rubber and leg geometry are open and modular, allowing for customization. An 8mm diameter hole through the carbon tube up to the KFE pulley enables cable routing or attachment of connectors for added modularity. This design supports the addition of sensors or specialized attachments to meet specific requirements.

Finally you can change the shape of the shoe to scope with different grounds like snow, ice, sand, mud etc.

<br>

<figure><img src="https://lh7-us.googleusercontent.com/docsz/AD_4nXdwSGft94RT8HapU1apiwc_gyZAqhHhktb33z9h9hFyVMLCGUeN09oJsY-KvOW_5ICCQdMqWPg7nSWqZId5hi8S4OI1iXqSunS9UlHXSALsx8yVOHTlpF-ughQvYvM4bNeLPR1KPkkPafm1zA3tNkBc4R9r?key=uqd7CQzygHX4REyQNvsHfA" alt=""><figcaption></figcaption></figure>

## Feet sensor cable routing

The inside of the KFE lower axis is hollow and allows you to add a separate cable to the foot.&#x20;

<figure><img src="https://lh7-us.googleusercontent.com/docsz/AD_4nXd9N-gTAs7qBZUV7ThK7MJS9h-qB188CnVJ1asWVN4BOHrXQfWCdUalG5xcUZP9g8qgH2L1YTJsuve7Lp7io9tOknwWF6wAOujvV42B42FVKCYO-55fJBFGXQvahAbYMV6MeGFw0fTGd2qTmx3df7MpMzc7?key=uqd7CQzygHX4REyQNvsHfA" alt=""><figcaption></figcaption></figure>

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