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*** Hot Breaking NEWS *** I'm reopening this case file. While revisiting the PIC firmware for this, I found a stonking flaw in my servo output timing. My pulses were happening every 48ms. They shouldn't be more than about 1800ms apart. I don't know why I didn't spot this on a scope months ago. This MAY account for the servo jitters mentioned later, but more importantly, my patched software now drives my MG995 servos! This means I now have enough mechanical power to swing the upper torso weight ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/biped-walking-robot-from-a-piece-of-pvc-conduit