I have the PhantomX platform with AX-12s. It going to start getting a high load with additions of a up running high level ROS, Lidar, Various sensors, directional mic array A head / grabber with two AX12s and 2 hobby servos plus lights camera and printed parts hanging out front and finally 4 AW-12W running a roller system to enable a form of wheeled motion for tight spaces.

With all this said budget remains a very big issue and i have the ability to only upgrade one 6 pack of ax-18s. My question is what would be some recommendations for placement of the ax-18s. My first thoughts where to replace all the Femurs to help with total weight load but I am concerned about the extra weight hanging out of the front. Recommendations on best loading the Hex would be very appreciated