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I wouldn't use the lego pneumatics. From my experience they are not very strong.
How much short on torque is it? If you can gear it down more, that's the way to go. If not, add another motor in each foot.
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Teacher/Engineer/Machinist - Team 696 Circuit Breakers, 2011 - Present
Mentor/Engineer/Machinist, Team 968 RAWC, 2007-2010
Technical Mentor, Team 696 Circuit Breakers, 2005-2007
Student Mechanical Leader and Driver, Team 696 Circuit Breakers, 2002-2004
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