[kavisiegel]

Let me clarify, we're not using air pressure to kick! Depending on the distance, we may use air as a "brake" to change our distance, but our main power is elastic.

We're using elastic surgical tubing on a lever to kick, with about 100 pounds of tension on the bands. We're using pneumatics to recoil the leg, and it's attached to the far bottom where only about 30-40 pounds of pressure are needed to pull it back. It only takes about 3 seconds to pull the foot back in, it's just that it's running on 3 solenoids and we have to be manually flipping those switches till the robot is programmed.

That being said, we can only get 2 kicks off with one charge of the cylinder. We're going to have an on board compressor.