So I started with new ideas for the upper leg.
The motors are 12V makita dc-motors with gear bought as spareparts .
The Parts are not complete ready they are for testing purposes.
I gave the upper leg an ankle of 5 degrees shown in part hip3_1_5deg_R it is for the right leg.
The hip3_hold_r_solo1 and hip_w_stab_R where putting together this fits into the holes on the bottom side of the hips.
New part are made see down below. Briefly I will upload the new better parts with many corrections.
The axis for the new_act_round on one side with an inserted M4 nut on the other side
there is enough place to turn the M4 nut and in the middle a threaded rod.
This is for the levers for the upper leg
axis for the upper leg movement
motor and gear
Gear and Motor for the lower leg
the ankle for the knee made stronger with flat brass
you can see the coupling with a nut hole