Shoulders
The rover's shoulder joint is multifunctional. Torque from an internal drive actuator is transmitted from the inside through the shoulder to the external driveline. Forward and rear sideframes meet at the shoulder to convey forces to the wheels. Chain-drives are housed in the shoulder and travel through the sideframes to the wheels. The shoulders have a rocking motion that acts as suspension, and regulates body pose.

From AstroboticBlogPhotos

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