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This Concept Map, created with IHMC CmapTools, has information related to: RiskBreakdownStructure, sensors 1.2.3.2.2 loss of position, transmissions 1.2.3.5.1.1 harmonic drives, electrical connectors 1.2.3.4.2 they loosen, algorithm 1.2.1.4.2 turning, maintaining balance 1.2.1.4.3.1.2 fail to detect a distrubance, amp 1.2.3.3.1.3 communicating to the motor drivers, swing leg 1.2.1.4.1.1 are accurate and compliant mutually exclusive?, the structure breaks 1.2.3.6.4.1 cable snaps, processor 1.2.3.1.2 qa issues, hardware and mechanical issues 1.2.3.6 structurally unsound, algorithm 1.2.1.4.5 need large step transfer of support algorithm unknown, software 1.2.1.7 launch window timing, sea 1.2.3.5.4 position bandwidth too low, software 1.2.1.4 algorithm, sensors 1.2.3.2.3 imu, walking in argos 1.2.1.4.6.1 argos causes larger disturbance, algorithm 1.2.1.4.7 gravity non-dimensional algorithm nice to have-- not required, max speed requirement 1.2.3.5.1.2.3 cooling, motors 1.2.3.5.6.4 too big & heavy, motors 1.2.3.5.6.1 high torque ripple