I have finished modelling and merging my character. I am not 100% sure if it's modelled to it's best i.e. if the topology is good enough for rigging/animating. That's why I saved the model at each stage of the merging/duplicating process.
I attached the leg to the body by adding one edge loop along the middle of the third slice of the cylinder. Then I extruded four faces from the leg, facing the body, and merged the verteces. Then I added an edge loop to the body/leg middle piece and adjusted the verteces to allow better topology. I did this for one quarter of the whole character, then mirrored it to add the arm.
For the arm, I added two edge loops along each side of the middle edge and merged the arm with the body the same way I did with the leg, using extrude.
For the whole body I mirrored the half and adjusted some of the verteces. I also added some edge looped along both sides of the middle edge facing the front.
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