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Re: look Ma, no OI
As far as the batteries go, there are 120 1.2V NiMH 3.3Ahr stacked in such a way to provide 24V at 19.8Ahr. So if you figure our load is about 8*3*2 Amps, ~48As to do walking motion, it situates our NiMH cells at 48/19.8 C or 2.4 times their rate capacity, which they can handle just fine. NiMH are about the best battery as far as life, Power Density, surge, and cost.
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