More work on the hip actuator.  I've installed mechanical limit switches at the full up and down positions.  This should cut off the motor in the event that a software glitch fails to.  Here's some pictures to show the general setup.  Note that the top support plate has not yet been cut open to allow for the torso rotation motor.

Hip Actuator Picture 1
Hip Actuator Picture 2
Hip Actuator Picture 3
Hip Actuator Picture 4