TDesperation is the Step-mother of Invention:
I devoted a lot of time today on reconciling the ankle mechanism culminating in using round headed 'Stove' Bolts to take the place of the ball/socket mounts of the ankle actuators.
Drilling into the recesses (Four points) of each foot pad and installing rare earth magnets I have a viable base for while perhaps not articulation at the very least, readily assembly/dis-assembly for conversion from Mars to Lucius and back again.