A quick post for tonight...
Tonight I hit Lowe's to pick up some pieces I want to test fit into R2's center foot and ankle.
First, the rubbergasket is used in plumbing. Other builders have cut these up and used them as a rudimentary shock absorber. For $7, its worth checking out.
Also, I want to see if different casters work any better. These are 2.5 inches like the current neoprene ones.
I'll start working with these over the next few days. I have some other ideas I would like to test but I need to find the right pieces first.